Code for auto parking car

I have 4 ultrasonic sensors
Front back right left
4 motors
Each 2 on the same side are connected together on the same polarity ( left motors move rythemtically alone and so do right ones )
The car is supposed to be park in the garage attached below only in the case of one (P) is empty
And if all occupied it should out
All description are in the pictures → the garage & project
4 ultrasonic are connected on pins from 13 to 6
H-Bridge is as follows ( which control the motors )
Forward and reverse of the left and right motors on pins from 5 to 2
NB. : RR → Right reverse LF → left forward
I’m using an adapter 9 volt 0.6 Amp for H-Bridge

The code <
#include <NewPing.h>
#define TRIGGER_PIN1 13
#define ECHO_PIN1 12
#define MAX_DISTANCE1 200
NewPing sonar1 ( TRIGGER_PIN1, ECHO_PIN1, MAX_DISTANCE1);
int d1;
void Read () ;
#define TRIGGER_PIN2 11
#define ECHO_PIN2 10
#define MAX_DISTANCE2 200
NewPing sonar2 ( TRIGGER_PIN2, ECHO_PIN2, MAX_DISTANCE2);
int d2;

#define TRIGGER_PIN3 9
#define ECHO_PIN3 8
#define MAX_DISTANCE3 200
NewPing sonar3 ( TRIGGER_PIN3, ECHO_PIN3, MAX_DISTANCE3);
int d3;

#define TRIGGER_PIN4 7
#define ECHO_PIN4 6
#define MAX_DISTANCE4 200
NewPing sonar4 ( TRIGGER_PIN4, ECHO_PIN4, MAX_DISTANCE4);
int d4;

int in1LF = 2;
int in2LR = 3;
int in3RR = 4;
int in4RF = 5;

void setup() {

pinMode(in1LF, OUTPUT);
pinMode(in2LR, OUTPUT);
pinMode(in3RR, OUTPUT);
pinMode(in4RF, OUTPUT);
Serial.begin (9600);
}

void loop()
{
Read();
if ((d1 < 10 && d3 < 15 && d4 < 15) || (d2 < 5 && d3 < 15 && d4 < 15)) {
digitalWrite (in1LF, LOW);
digitalWrite (in2LR, LOW);
digitalWrite (in3RR, LOW);
digitalWrite (in4RF, LOW);
}
else if (d1 > 10) {
digitalWrite (in1LF, HIGH);
digitalWrite (in2LR, LOW);
digitalWrite (in3RR, LOW);
digitalWrite (in4RF, HIGH);
if (d3 < 55 && d3 > 27) {
digitalWrite(in1LF, LOW);
digitalWrite(in3RR, LOW);
digitalWrite(in4RF, LOW);
digitalWrite(in2LR, LOW);

while (1) {
digitalWrite(in1LF, HIGH);
digitalWrite(in3RR, HIGH);
digitalWrite(in4RF, LOW);
digitalWrite(in2LR, LOW);
Read ();
if (d1 > 20 && d3 > 40)
{ break;
}

}
}
else if (d4 < 55 && d4 > 27) {

digitalWrite(in1LF, LOW);
digitalWrite(in3RR, LOW);
digitalWrite(in4RF, LOW);
digitalWrite(in2LR, LOW);

while (1) {
digitalWrite(in1LF, LOW);
digitalWrite(in3RR, LOW);
digitalWrite(in4RF, HIGH);
digitalWrite(in2LR, HIGH);
Read ();
if (d1 > 20 && d4 > 40)
{ break;
}
}
}
}
else if (d1 < 10 && d2 > 70 && d3 < 15 && d4 < 15)
{ digitalWrite(in1LF, LOW);
digitalWrite(in3RR, LOW);
digitalWrite(in4RF, LOW);
digitalWrite(in2LR, LOW);

while (1)
{ digitalWrite(in1LF, LOW);
digitalWrite(in3RR, HIGH);
digitalWrite(in4RF, LOW);
digitalWrite(in2LR, HIGH);
Read ();
if (d2 > 10)
{ break;
}
}
}
}
void Read()
{
int uS1 = sonar1.ping();
Serial.print("pingF: ");
Serial.print(uS1 / US_ROUNDTRIP_CM);
Serial.println("cm ");
d1 = uS1 / US_ROUNDTRIP_CM;

int uS2 = sonar2.ping();
Serial.print("pingB ");
Serial.print(uS2 / US_ROUNDTRIP_CM);
Serial.print("cm ");
d2 = uS2 / US_ROUNDTRIP_CM;

int uS3 = sonar3.ping();
Serial.print("pingR: ");
Serial.print(uS3 / US_ROUNDTRIP_CM);
Serial.print("cm ");
d3 = uS3 / US_ROUNDTRIP_CM;

int uS4 = sonar4.ping();
Serial.print("pingL: ");
Serial.print(uS4 / US_ROUNDTRIP_CM);
Serial.print("cm ");
d4 = uS4 / US_ROUNDTRIP_CM;
}

Did you seriously think we wouldn't notice?