Figure \ref{fig:Scenario1} demonstrates a normal scenario that the system may experience. The PBAS is activated from the external event of the driver shifting the vehicle into reverse. The ECU then brings all available sensors on-line and begins processing data that they send to it. Afterwards, an object is detected and the ECU determines that the situation is a stage 1 instance. The ECU begins the countermeasures associated with stage 1 and calls the needed operations. However, the countermeasures are not effective as the object crosses the threshold for the ECU to initiate stage 2 countermeasures. In addition to the previous measures, the ECU begins to decrease the vehicles speed automatically, and activates the cabin lights. Nextly, imminent collision with the object has been determined by the ECU and enters into stage 3, where the ECU fully applies the breaks. Afterwards, the driver shifts the vehicle out of reverse and the system shuts down.