diff --git a/autonomousCar/autonomousCar.ino b/autonomousCar/autonomousCar.ino
index 1b67a78..37c1700 100644
--- a/autonomousCar/autonomousCar.ino
+++ b/autonomousCar/autonomousCar.ino
@@ -259,14 +259,15 @@ void park(int parkingNo) {
   int row = (parkingNo / 2) + 1;
   int side = (parking % 2)  //If side is 1 then the parking is to right
                             // else if is 0 the parking is to left.
+  distance= getDistance(); //take the distance from ultrasonic sensor
   
-  while (row > 0) {
+  while (row > 1) {
     absolute(255);
     forward();
     delay(FORWARD_STEP);
     motor_stop();
     
-    r--;
+    row--;
   }
   
   //Check the side value to turn.
@@ -278,11 +279,12 @@ void park(int parkingNo) {
   forward();
   delay(TURN_TIME);
   motor_stop();
-  
-  absolute(255);
-  forward();
 
-  delay(400);
+  while(distance<10){
+    absolute(255);
+    forward();  
+  }
+  motor_stop();
 }