         smalsiukasState = STATE_STOP;
       }
 
+		if (millis() - lineLastSeenTs > LINE_SEEN_TIMEOUT) {
+		  parkingOn();
+		  beeep();
+		  delay(500);
+		  beeep();
+		  stop();
+		  smalsiukasState = STATE_STOP;
+		}
+
       break;
     case STATE_ERROR:
       break;

        go();
        smalsiukasState = STATE_FOLLOWING;
        beep();
      }
      break;
    case STATE_FOLLOWING:

            }
            mirgalkeOff();
          } else {
          }
        } else if (isRequestTimeout()) {
          Serial.print('T');
