FORM 2
THE PATENTS ACT, 1970
[39 OF 1970]
&
The Patents Rules, 2003
COMPLETE SPECIFICATION
[See Section 10 and Rule 13]
TITLE: “AUTOMATIC REVERSE BRAKING OF A VEHICLE BRAKING USING RPAS SYSTEM”
NAME AND ADDRESS OF THE APPLICANT:
TATA MOTORS LIMITED, Bombay House, 24 Homi Mody Street, Hutatma Chowk, Mumbai 400 001, Maharashtra, INDIA.
Nationality: IN
The following specification particularly describes the invention and the manner in which it is to be performed.

TECHNICAL FIELD
[001] The present disclosure generally relates to vehicle braking system and more particularly to method and system for automatic reverse braking using Reverse Parking Assistance System (RPAS) system.
BACKGROUND
[002] Driver assistance systems are developed extensively for the safety and to improve driving experience. One such driver assistance system includes a reverse braking assistance system. Currently, vehicles are equipped with the reverse brake assisting system to help a driver of a vehicle. Assistance can include, but not limited to, notifying the driver about proximity of an obstacle, providing a rear view of the vehicle, automatic braking of vehicle. Existing reverse brake assisting system employs plurality of ultrasonic sensors mounted on a rear side of the vehicle, to detect objects in the rear side of the vehicle and intimated/alert the driver. Further it is also known that a plurality of vehicles in the market also implements a brake assisting system for automatic braking of the vehicle when the object is detected in the reverse driving path of the vehicle.
[003] The existing automatic braking systems employ a separate Electronic Control Unit (ECU) for controlling of the automatic braking system and for providing alerts and displaying visualization, this increases the complexity in the vehicle circuitry.
[004] The information disclosed in this background of the disclosure section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
SUMMARY
[005] Disclosed herein is a method for automatic reverse braking of a vehicle using Reverse Parking Assistant System (RPAS). The method comprises receiving a signal from one or more RPAS sensors mounted on a rear side of a vehicle when a reverse gear is initiated; determining a distance between an object and the vehicle using the signal from the one or more RPAS sensors; actuating an alarm intermittently when the distance between the object and the vehicle is less than

a first predetermined value and more than a second predetermined value; actuating the alarm continuously when the distance between the object and the vehicle is less than the second predetermined value and more than a third predetermined value; and finally actuating a primary brake of the vehicle when the distance between the object and the vehicle is less than the third predetermined value;
[006] Further, the present disclosure discloses a Vehicle Electronic Control Unit (VECU) for automatic reverse braking of the vehicle using RPAS. The VECU comprises a memory and a processor. The processor is configured to receive a signal from one or more RPAS sensors mounted on rear side of a vehicle when a reverse gear is initiated; determine a distance between an object and the vehicle using the signal from the one or more RPAS sensors; actuate an alarm intermittently when the distance between the object and the vehicle is less than a first predetermined value and more than a second predetermined value; actuate the alarm continuously when the distance between the object and the vehicle is less than the second predetermined value and more than a third predetermined value; and finally actuate a primary brake of the vehicle when the distance between the object and the vehicle is less than the third predetermined value.
[007] The foregoing summary is illustrative only and is not intended to be in any way limiting. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features will become apparent by reference to the drawings and the following detailed description.
BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS
[0001] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and, together with the description, explain the disclosed principles. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and/or methods in accordance with embodiments of the present subject matter are now described, by way of example only, and regarding the accompanying figures, in which:

[008] FIG. 1 illustrates a vehicle comprising a system for automatic reverse braking of vehicle using Reverse Parking Assistance System (RPAS), in accordance with some embodiments of the present disclosure.
[009] FIG. 2 illustrates a detailed block diagram of a Vehicle Electronic Control Unit (VECU) configured to enable auto reverse braking in accordance with some embodiments of the present disclosure.
[010] FIG. 3 illustrates an exemplary diagram of practical implementation of automatic reverse braking of a vehicle using Reverse Parking Assistance System (RPAS) in a vehicle, in accordance with some embodiments of the present disclosure.
[011] FIG. 4 illustrates a block diagram for automatic reverse braking of vehicle using Reverse Parking Assistance System (RPAS), in accordance with some embodiments of the present disclosure.
[012] FIG. 5 is a flowchart illustrating a method for automatic reverse braking of vehicle using Reverse Parking Assistance System (RPAS), in accordance with some embodiments of the present disclosure.
[013] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative systems embodying the principles of the present subject matter. Similarly, it will be appreciated that any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and executed by a computer or processor, whether or not such computer or processor is explicitly shown.
DETAILED DESCRIPTION
[014] In the present document, the word “exemplary” is used herein to mean “serving as an example, instance, or illustration”. Any embodiment or implementation of the present subject matter described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[015] While the disclosure is susceptible to various modifications and alternative forms, specific embodiment thereof has been shown by way of example in the drawings and will be described in detail below. It should be understood, however that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternative falling within the spirit and the scope of the disclosure.
[016] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a setup, device, or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a device or system or apparatus proceeded by “comprises… a” does not, without more constraints, preclude the existence of other elements or additional elements in the device or system or apparatus.
[017] In the following detailed description of the embodiments of the disclosure, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.
[018] FIG. 1 illustrates a vehicle comprising a system for automatic reverse braking of vehicle using Reverse Parking Assistance System (RPAS), in accordance with some embodiments of the present disclosure.
[019] The vehicle 100 comprises a one or more RPAS sensors 101 mounted on a rear side of the vehicle 100. The one or more sensors 101 senses one or more objects in a reverse driving path of the vehicle 100 when a reverse gear is initiated. The one or more RPAS sensors 101 sends a signal to a Vehicle Electronic Control Unit (VECU) 102 for each measurement. The VECU 102 is configured to operate an alarm and/ or a primary brake of the vehicle 100 based on the signal received from the one or more RPAS sensors 102.

[020] In an embodiment the VECU 102 can implement, without limitation, a software, a firmware or a combination of software and firmware. The VECU 102 may comprise, without limitation, a memory and a processor to perform one or more actions.
[021] In an embedment, the processor of the VECU 102 may be embodied as a multi-core processor, a single core processor, or a combination of one or more multi-core processors and one or more single core processors. For example, the processor of the VECU 102 may be embodied as one or more of various processing devices, such as a coprocessor, a microprocessor, a controller, a digital signal processor (DSP), a processing circuitry with or without an accompanying DSP, or various other processing devices including, a microcontroller unit (MCU), a hardware accelerator, or the like.
[022] In an embedment, the one or more RPAS sensors 101 may include, without limitations, an ultrasonic sensor, and an electromagnetic parking sensor.
[023] In an embodiment, the processor of the VECU 102 is configured to: (1) receive the signal the from one or more RPAS sensors 102 mounted on the rear side of the vehicle100, when the reverse gear is initiated, (2) determine a distance between an object and the vehicle 100 using the signal from the one or more RPAS sensors 101, (3) actuating an alarm intermittently when the distance between the object and the vehicle is less than a first predetermined value and mare than a second predetermined value, (4)actuating the alarm continuously when the distance between the object and the vehicle is less than the second predetermined value and more than a third predetermined value, and (5) actuating a primary brake of the vehicle when the distance between the object and the vehicle is less than the third predetermined value.
[024] In an embedment, the primary brake may include, without limitation, a left rear spring brake actuator and a right rear spring brake actuator.
[025] In an embodiment, the present disclosure is implemented in the vehicle 100 using a spare pin in the existing VECU 102 to actuate the alarm and the brakes of the vehicle 100.
[026] In an embodiment, a circuit switch is provided to deactivate or activate the actuation of the primary brake pf automatic reverse braking in vehicle using RPAS when the circuit switch is turned OFF or ON respectively.

[027] In an implementation there may exists a situation where the vehicle 100 is required to be very close to the object or a second vehicle, at the rear side of the vehicle 100, for transferring of heavy weight supplies or goods, but the automatic reverse braking in vehicle 100 using RPAS automatically brakes when the distance between the object and the vehicle 100 is less than the third predetermined value causing a gap between the object or the second vehicle. In this kind of situation, the circuitry switch can be turned OFF to deactivate the automatic reverse braking in vehicle using RPAS.
[028] FIG. 2 illustrates a detailed block diagram of the VECU, in accordance with some embodiments of the present disclosure.
[029] In an embodiment the VECU 102 comprises an I/O interface 201, a processor 203, a memory 200, Data 204 and Modules 210. The modules 210 further comprises a receiving module 211, a determining module 212 and a solenoid module 213 which will be explained in detail later.
[030] In an embodiment, the data 204 stored in the memory 200 may include, without limitation, the RPAS sensor signal 205, the distance data 206 indicating the distance between the object and the vehicle 100, the first predetermined value 207, the second predetermined value 208, and the third predetermined value 209. In some implementations, the data 204 may be stored within the memory in the form of various data structures. Additionally, the data 204 may be organized using data models, such as relational or hierarchical data models. In an embodiment, other data may be stored in the memory 200. The other data may include, but not limited to, alarm data. The alarm data may include different patterns of alarm to be provided based on a distance of the vehicle 100 from the one or more object.
[031] In an embodiment, the signal from one or more RPAS sensors 101 can be, without limitation, a current measurement or a voltage measurement. In an embodiment, the one or more RPAS sensors 101 may provide digital values of the distance between the vehicle 100 and the one or more obstacles to the VECU 102.
[032] In an embodiment, the I/O module 201 of apparatus 102 may include, without limitation, enabling communication of the apparatus 102 with one or more RPAS sensors 101. For example,

the I/O module 201 may be the spare pin of the VECU 102. In another embodiment, the I/O module 102 may be a communication port such as a Universal Serial Bus (USB)/ C-type port.
[033] In an embodiment, the memory 200 is capable of storing machine executable instructions, referred to herein as instructions. In an embodiment, the processor 203 of the VECU 102 is embodied as an executor of software instructions. As such, the processor 203 is capable of executing the instructions stored in the memory to perform one or more operations described herein. The memory 200 can be any type of storage accessible to the processor 203 to perform respective functionalities.
[034] In an embodiment the data 204 further comprises RPAS sensor signal 205 from the one or more RPAS sensors 101, a distance data 206 indicating the distance between the object and the vehicle 100, a first predetermined value 207, a second predetermined value 208, and a third predetermined value 209. where the predetermined value stored in a memory 200 is compared with the distance data 206 and actuate an alarm or a primary brake based on the comparison results.
[035] In an embodiment, the signal from one or more RPAS sensors 101 mounted on the rear side of a vehicle 100is received by the VECU 102 when a reverse gear is initiated. Upon receiving the signal from the one or more RPAS sensors 101 the determining module 212 determines the distance data 206 indicating the distance between the object and the vehicle 100using the signal from one or more RPAS sensors 101. Upon determining the distance data 206 the VECU compares the distance data 206 with the predetermined value (first predetermined value, second predetermined value and third predetermined value). After the comparison the actuating module 210 of the VECU actuates the alarm intermittently, when the distance data 206 is less than the first predetermined value 207 and more than the second predetermined value 208. If the vehicle 100 gets more closer to the object even after the intermittent alarm the actuating module 210 actuates the alarm continuously, when the distance data 206 is less than the second predetermined value 208 and more than the third predetermined value 209. And finally, if the vehicle 100 gets closer to the object even after the continuous alarm the actuating module actuates the solenoid relay of the automatic reverse braking in vehicle 100 using RPAS. Actuating the solenoid relay in turn actuates a pneumatic solenoid valve thereby actuating the primary brake of the vehicle 100, when the distance data 206 is less than the third predetermined value 209.

[036] In an embodiment, actuating the primary brake comprises activating the solenoid relay connected to the spare pin of the VECU 102, when the distance data 206 is less than the third predetermined value 209. Actuating the solenoid relay in turn actuates the pneumatic solenoid valve thereby actuates a control port of relay valve. Actuating the control port relay valve allows the existing pressurized air at input side of the relay valve to flow and actuate the left rear spring brake actuator and right rear spring brake actuator.
[037] FIG. 3 illustrates the exemplary diagram of practical implementation of the present disclosure, in accordance with some embodiments of the present disclosure.
[038] In an embodiment, when the vehicle 100is moving in the reverse path and the object 301 appearing in the reverse path is detected by one or more RPAS sensors 101 mounted on the vehicle 100. An alarm is actuated intermittently 302 when the distance data 206 distance between the object 301 and the vehicle 100is less than the first predetermined value 207 and more than the second predetermined value 208, and the alarm is actuated continuously 304 when the distance data 206 indicating is less than the second predetermined value 208 and more than the third predetermined value 209¸ the primary brake is actuated 304 when the distance data 206 is less than the third predetermined value 209 as illustrated in FIG. 3.
[039] FIG. 4 illustrates the block diagram for automatic reverse braking of vehicle using Reverse Parking Assistance System (RPAS) sensors, in accordance with some embodiments of the present disclosure.
[040] In an embodiment, modules illustrated in FIG. 4 are submodules of the modules 210 illustrated in FIG. 2 operating in sequence. The operating sequence comprises receiving the signal 205 by the VECU 102 from the one or more RPAS sensors 101 mounted on the rear side of the vehicle 100, determining, by the determining module 212 the distance data 206 indicating the distance between an object 301 and the vehicle 100 using the signal 205 from one or more RPAS sensors 101, actuating an alarm intermittently 302, by the actuating module 213, when the distance data 206 is less than the first predetermined value 207 and more than the second predetermined value 208, actuating the alarm continuously 303, by the actuating module 213, when the distance data 206 is less than the second predetermined value 208 and more than the third predetermined

value 209, and actuating the primary brake 304 of the vehicle 100, by the actuating module 213, when the distance data 206 is less than the third predetermined value 209.
[041] In an embodiment, the determining module 212 may include, without limitation, the Vehicle Electronic Control Unit (VECU) and the actuating module 213 may include, without limitation, the solenoid relay 401, the pneumatic solenoid valve 402 and a relay valve.
[042] In an embodiment, the signal 205 from the one or more RPAS sensors 101 is received and converted into a distance measurement by the VECU 102. The VECU is configured to compare the converted distance with a predetermined value. The predetermined value can include, without limitations, a data value of a specific distance in kilometers, meters, centimeters, millimeters or in other forms of distance units.
[043] In an embodiment, the VECU receives the signal from the one or more RPAS sensors 101 mounted on the rear side of the vehicle 100 when a reverse gear is initiated. The determining module 212 of the VECU 102 determines the distance data 206 indicating the distance between the object 301 and the vehicle 100 using the signal 205 from the one or more RPAS sensors 101. The actuating module 213 of the VECU 102 actuates the alarm intermittently 302 indicating a presence of the object 301 moving or static at the rear side of the vehicle 100 when the distance data 206 is less than the first predetermined value 207 and more than the second predetermined value 208. If the vehicle 100 gets closer to the object 301 even after the intermittent alarm 302 the actuating module 213 actuates the alarm continuously 303 when the distance data 206 is less than the second predetermined value 208 and more than the third predetermine value 209. If the vehicle 100 gets closer to the object even after the continuous alarm 303, the actuating module 213 actuates the primary brake 304 when the distance data 206 is less than the third predetermined value 209.
[044] In an embodiment, actuating the primary brake comprises activating the solenoid relay 401 connected to the spare pin of the VECU 102, when the distance data 206 is less than the third predetermined value 209. Actuating the solenoid relay 401 in turn actuates the pneumatic solenoid valve 402 thereby actuates a control port of relay valve 405. Actuating the relay valve 405 allows the existing pressurized air at input to flow and actuate the left rear spring brake actuator 406 and right rear spring brake actuator 407 using pressurized air at the input side of the solenoid valve 402.

[045] In an embodiment, the pressurized air is stored in a pressurized air tank 404, the pressurized air is then passed through a pressure release valve 403 and reach the input side of the solenoid valve 402. The pressure release valve 403 is used to prevent pressure buildup in a pneumatic system.
[046] FIG. 5 is a flowchart illustrating a method for automatic reverse braking of vehicle 100 using Reverse Parking Assistance System (RPAS), in accordance with some embodiments of the present disclosure.
[047] As illustrated in FIG. 5, the method 500 may include one or more block illustrating a method for automatic reverse braking of a vehicle 100 using RPAS. The order in which the method 500 is intended to be constructed as a limitation, and any number of the described method blocks can be combined in any order to implemented the method. Additionally, individual blocks may be deleted from the methods without departing from the scope of the subject matter described herein. Furthermore, the method can be implemented in any suitable hardware, software, firmware, or combination thereof.
[048] At block 501, the method 500 includes receiving, by a processor 203, the signal 205 from one or more RPAS sensors 101 mounted on a vehicle 100 when a reverse gear is initiated.
[049] At block 502, the method 500 includes determining, by the processor 203, the distance data 206 using the signal 205 from the one or more RPAS sensors 101.
[050] At block 503, the method 500 includes actuating, by the processor 203, the alarm intermittently 302 when the distance data 206 is less than the first predetermined value 207 and more than the second predetermined value 208.
[051] At block 504, the method 500 includes actuating, by the processor 203, the alarm continuously 303 when the distance data 206 is less than the second predetermined value 208.
[052] At block 505, the method 500 includes actuating the primary brake 304 of the vehicle, by the processor 203, when the distance data 206 is less than the third predetermined value 209.
[053] In an embodiment, actuating the primary brake comprises activating a solenoid relay 401 connected to a spare pin of the VECU 102, when the distance data 206 is less than the third

predetermined value 209 wherein the solenoid relay 402 in turn actuates a pneumatic solenoid valve 402 thereby actuating the left rear spring brake actuator 406 and the right spring brake actuator 407.
[054] In an embodiment, a circuit switch is provided to deactivate or activate the actuation of the primary brake of the present disclosure when the circuit switch is turned OFF or ON respectively.
[055] In light of the technical advancements provided by the proposed method and the Vehicle Electronic Control Unit (VECU) 102 the claimed steps, as discussed above, are not routine, conventional, or well-known aspects in the art, as the claimed steps provide the aforesaid solutions to the technical problems existing in the conventional technologies. Further, the claimed steps clearly bring an improvement in the functioning of the system itself, as the claimed steps provide a technical solution to a technical problem.
[056] The terms "an embodiment", "embodiment", "embodiments", "the embodiment", "the embodiments", "one or more embodiments", "some embodiments", and "one embodiment" mean "one or more (but not all) embodiments of the invention(s)" unless expressly specified otherwise.
[057] The terms "including", "comprising", “having” and variations thereof mean "including but not limited to", unless expressly specified otherwise.
[058] The enumerated listing of items does not imply that any or all the items are mutually exclusive, unless expressly specified otherwise. The terms "a", "an" and "the" mean "one or more", unless expressly specified otherwise.
[059] A description of an embodiment with several components in communication with each other does not imply that all such components are required. On the contrary, a variety of optional components are described to illustrate the wide variety of possible embodiments of the invention.
[060] When a single device or article is described herein, it will be clear that more than one device/article (whether they cooperate) may be used in place of a single device/article. Similarly, where more than one device/article is described herein (whether they cooperate), it will be clear that a single device/article may be used in place of the more than one device/article or a different number of devices/articles may be used instead of the shown number of devices or programs. The

functionality and/or features of a device may be alternatively embodied by one or more other devices which are not explicitly described as having such functionality/features. Thus, other embodiments of invention need not include the device itself.
[061] Finally, the language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the inventive subject matter. It is therefore intended that the scope of the invention be limited not by this detailed description, but rather by any claims that issue on an application based here on. Accordingly, the embodiments of the present invention are intended to be illustrative, but not limiting, of the scope of the invention, which is set forth in the following claims.
[062] While various aspects and embodiments have been disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims.
[063] Referral Numerals:

Reference Number Description
100 Vehicle
101 One or more RPAS sensors
102 Vehicle Electronic Control Unit (VECU)
200 Memory
201 I/O Interface
203 Processor
204 Data
205 RPAS sensor signal
206 Distance data
207 First predetermined value
208 Second predetermined value
209 Third predetermined value
212 Determining module

213 Actuating module
301 object
302 Actuating the alarm intermittently
303 Actuating the alarm continuously
304 Actuating the primary brake of the vehicle
401 Solenoid relay
402 Solenoid valve
403 Pressure release valve
404 Pressurized Air thank
405 Relay valve
406 Left rear spring break actuator
407 Right rear spring break actuator

WE CLAIM:
1. A method for automatic reverse braking of a vehicle 100 using Reverse Parking Assistance
System (RPAS), the method comprises:
receiving, by a Vehicle Electronic Control Unit (VECU) 102, a signal from one or more RPAS sensors 101 mounted on a rear side of a vehicle 100 when a reverse gear is initiated;
determining, by the VECU 102, a distance data 206 indicating a distance between an object 301 and the vehicle 100 using the signal from the one or more RPAS sensors 101;
actuating, by the VECU 102, an alarm intermittently 302 when the distance data 206 is less than a first predetermined value 207 and more than a second predetermined value 208;
actuating, by the VECU 102, the alarm continuously 303 when the distance data 206 is less than the second predetermined value 208 and more than a third predetermined value 209; and
actuating, by the VECU 102, primary brake 304 of the vehicle 100 when the distance data 206 is less than the third predetermined value 209.
2. The method as claimed in claim 1, wherein the object sensed by the one or more RPAS sensors 101 is one of a static object or a moving object 301.
3. The method as claimed in claim 1, wherein actuating the primary brake 304 using VECU 102 comprises:
activating a solenoid relay connected to a spare pin of the VECU 102, when the distance data 206 is less than the third predetermined value 209 wherein the solenoid relay 401 in turn actuates a pneumatic solenoid valve 402 thereby actuating the primary brake 304.
4. The method as claimed in claim 1, further comprises:
deactivating or activating, by the VECU 102, the actuation of the primary brake when a circuit switch is turned OFF or ON respectively.
5. A Vehicle Electronic Control Unit (VECU) 102 comprising a processor and a memory,
wherein the processor is configured to:
receive a signal from one or more RPAS sensors 101 mounted on a rear side of a vehicle 100 when a reverse gear is initiated;

determine a distance data 206 indicating a distance between an object 301 and the vehicle 100 using the signal from the one or more RPAS sensors 101;
actuate an alarm intermittently 302 when the distance data 206 is less than a first predetermined value 207 and more than a second predetermined value 208;
actuate the alarm continuously 303 when the distance data 206 is less than the second predetermined value 208 and more than a third predetermined value 209; and
actuate a primary brake 304 when the distance data 206 is less than the third predetermined value 209.
6. The VECU 102 as claimed in claim 5, wherein the object sensed by the one or more RPAS sensors 101 is one of a static object 301 or a moving object 301.
7. The VECU 102 as claimed in claim 5, wherein the processor is configured to:
activate a solenoid relay connected to a spare pin of the VECU 102, when the distance between data 206 is less than the third predetermined value 209 wherein the solenoid relay 401 in turn actuates a pneumatic solenoid valve 402 thereby actuating the primary brake 304.
8. The VECU 102 as claimed in claim 5, the processor is further configured to:
deactivate or activate the actuation of the primary brake when a circuit switch is turned
OFF or ON respectively.
9. A system for automatic reverse braking of a vehicle using Reverse Parking Assistance
System (RPAS) system comprises:
one or more RPAS sensors 101;
a memory 200; and
a processor 203 configured to perform method steps of 1-4.