A bit odd this one.
On the 2003 9-3 sports saloon, the parking sensors work OK while parking.
But from time to time, if you stop the car near an obstacle with the park assist bleeping, it continues to bleep when you move the auto selector out of R. And when this happens, it continues to bleep even when the ignition is off, the key is removed, the door is opened and closed and you have locked the car and started to walk away.
If you turn the ignition back on and move the selector from P to R and back again the bleep usually stops.