This thesis investigates a method to dynamically adapt the angular resolution of a 2D spinning lidar (Light Detection and Ranging) using an ultrasound sensor. The ultrasound sensor data is used to locate areas where a higher angular resolution is desired compared to other regions. It proposes two distinct methods to locate these areas based on real problems encountered in the autonomous automotive industry and assign numerical scores to areas of interest. These scores are then taken into account when deciding the angular resolution for that area. The adaptive algorithm is meant to increase the amount of data available on object of interest for use in object avoidance and trajectory mapping systems in autonomous vehicles. The thesis will cover the design, development and testing of the whole system.