How do I troubleshoot the parking aid system on my Audi A4?

I recently purchased a used Audi A4 and noticed that the parking aid system isn't working properly. It sometimes beeps for no reason and doesn't always detect obstacles. What steps can I take to troubleshoot and fix this issue?

First, check the sensors on the front and rear bumpers to make sure they are clean and not damaged. If they are dirty, clean them with a mild detergent and cloth. If they are damaged, they may need to be replaced.

Next, check the wiring and connections for the parking aid system. Loose or damaged wires could cause the system to malfunction. If you are not comfortable checking the wiring yourself, take it to a certified Audi mechanic.

If the sensors and wiring seem to be in good condition, you may need to recalibrate the system. This can usually be done through the car's settings or by a mechanic using specialized equipment.