diff --git a/Process/pipe4/temp/lane_following.py b/Process/pipe4/temp/lane_following.py
index 345135f..1059fd6 100644
--- a/Process/pipe4/temp/lane_following.py
+++ b/Process/pipe4/temp/lane_following.py
@@ -1457,14 +1457,16 @@ def follow_lane(out_image, filtered_results, original, previous_left_id=None, pr
         out_image, vertical_line, right_diagonal, left_diagonal = get_angle_lines(out_image)
         out_image, in_lane, left_intersections, middle_intersections, right_intersections = find_intersections_and_draw(out_image, vertical_line, right_diagonal, left_diagonal, mask)
 
+        image_copy = original.copy()
+
         if in_lane:
             print("The vehicle is in the lane.")
 
         steer = analise_results(in_lane, left_intersections, middle_intersections, right_intersections)
         
-        cv2.putText(out_image, f'Steer: {steer:.2f}', (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
+        cv2.putText(image_copy, f'Steer: {steer:.2f}', (10, 30), cv2.FONT_HERSHEY_SIMPLEX, 1, (0, 255, 0), 2)
 
-        return out_image, mask, steer, previous_left_id, previous_right_id
+        return image_copy, mask, steer, previous_left_id, previous_right_id
     else:
         steer = 0
         print("Take manual control of the vehicle.")
diff --git a/Process/pipe4/temp/outputUnit.py b/Process/pipe4/temp/outputUnit.py
index 1e7bf5b..ab2a322 100644
--- a/Process/pipe4/temp/outputUnit.py
+++ b/Process/pipe4/temp/outputUnit.py
@@ -66,12 +66,12 @@ def process(self, data_token):
                 cv2.rectangle(annotated_frame, (x_min, y_min), (x_max, y_max), (0, 255, 0), 1)
                 
                 if min_distances and min_distances[i] is not None:
-                if min_distances[i] is not None:
-                    text = f"{bbox[-1]}  Dist: {min_distances[i]:.2f}m"
-                    cv2.putText(annotated_frame, text, (x_min, y_min - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
-                else:
-                    text = f"{bbox[-1]}"
-                    cv2.putText(annotated_frame, text, (x_min, y_min - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+                    if min_distances[i] is not None:
+                        text = f"{bbox[-1]}  Dist: {min_distances[i]:.2f}m"
+                        cv2.putText(annotated_frame, text, (x_min, y_min - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
+                    else:
+                        text = f"{bbox[-1]}"
+                        cv2.putText(annotated_frame, text, (x_min, y_min - 10), cv2.FONT_HERSHEY_SIMPLEX, 0.5, (0, 255, 0), 2)
         
         if (self.la or self.all) and data_token.get_flag('has_lane_data'):
             output = data_token.get_processing_result('laneUnit')
diff --git a/Process/pipe4/temp/unit3.py b/Process/pipe4/temp/unit3.py
index f963af9..a9a67ff 100644
--- a/Process/pipe4/temp/unit3.py
+++ b/Process/pipe4/temp/unit3.py
@@ -39,21 +39,35 @@
 object_avoidance = False
 avoid = False
 
+reverse_toggle = False
+reverse_gear = False
+
 
 def get_keyboard_control(vehicle):
     # Toggle lane following with Q
     global follow_lane
     global object_avoidance
+    global reverse_toggle
+    global reverse_gear
+    control = carla.VehicleControl()
+
+    keys = pygame.key.get_pressed()
     control = carla.VehicleControl()
 
     if not follow_lane:
-        keys = pygame.key.get_pressed()
-        control = carla.VehicleControl()
         control.throttle = 1.0 if keys[pygame.K_w] else 0.0
         control.brake = 1.0 if keys[pygame.K_s] else 0.0
         control.steer = -1.0 if keys[pygame.K_a] else 1.0 if keys[pygame.K_d] else 0.0
         control.hand_brake = keys[pygame.K_SPACE]
-        control.reverse = not control.reverse if keys[pygame.K_r] else control.reverse
+
+        if keys[pygame.K_r] and not reverse_toggle:
+            reverse_gear = not reverse_gear
+            reverse_toggle = True
+
+        if not keys[pygame.K_r]:
+            reverse_toggle = False
+
+        control.reverse = reverse_gear
     else:
         control.throttle = 0.3
 
@@ -523,7 +537,7 @@ def main(pipe):
                 image_surface = convert_array_to_surface(processed_image_array)
                 display.blit(image_surface, (0, 0))
                 
-                if pipe.dataToken.get_flag("hasObserverData") and object_avoidance:
+                if pipe.dataToken.get_flag("hasObeserverData") and object_avoidance:
                     # Render the text "Object avoidance on"
                     text_surface = font.render("Object avoidance on", True, (0, 255, 0))  # Green text
                     display.blit(text_surface, (10, 10))
@@ -537,7 +551,7 @@ def main(pipe):
                 # print(object_avoidance)
                 # print( pipe.dataToken.get_flag("hasObserverData"))
 
-                if pipe.dataToken.get_flag("hasObserverData") and object_avoidance:
+                if pipe.dataToken.get_flag("hasObeserverData") and object_avoidance:
                     print("avoiding")
                     observerToken = pipe.dataToken.get_processing_result('observerUnit')
                     breaking = observerToken['breaking']