## 6 Discussion  
Management insights into end-to-end intelligent parking can help city planners and parking facility operators better understand the practical implications and potential benefits of adopting intelligent parking technologies. Some key insights are as follows:  
1. Efficiency improvements: End-to-end intelligent parking systems can significantly improve vehicle parking efficiency.
2. Environmental benefits: By reducing the time spent parking and optimizing traffic flow, intelligent parking can significantly contribute to reducing emissions, cleaning the urban environment, and unlocking energy.
3. Strong adaptability: End-to-end intelligent parking systems can adapt to complex and unfamiliar parking environments better than skilled drivers and meet urban parking spaces' changing needs.
4. Easy to reproduce: The structure of the end-to-end intelligent parking model is relatively simple and the experimental cost is low, which is convenient for researchers to reproduce the study.
5. Technical progress and innovation: It provided a new design idea for end-to-end intelligent parking.  
Nevertheless, additional optimization and enhancement are required to effectively apply this method in real-world environments. In future research, we should investigate the following potential avenues to refine the approach presented in this paper:  
1. In this study, the car surround-view image and ultrasonic sensor distance information are features that are captured through spatial and temporal feature sub-networks, respectively. Hence, the resolution of the environment, especially the obstacle boundaries, could be more accurate. In this case, it should be considered to improve the surround-view image extracted by the spatial feature sub-network into an image where the car surround-view image is fused with the ultrasonic radar or proximal millimeter wave radar information, where the distance information captured by the radar sensor is projected onto the vehicle to the surrounding view map through coordinate transformation and presented as a smooth connecting line of the detected points of the ultrasonic sensors around the vehicle, which can further achieve information fusion and improve the recognition accuracy of the end-to-end intelligent parking model for obstacle boundaries in low-speed environments.
2. The constructed end-to-end intelligent parking model only outputs the steering wheel turning angle and vehicle speed control decisions in this study. However, brake pedal control is a critical factor that must be addressed in the driver's parking process. Therefore, in future research, brake pedal control strategies should be considered for incorporation into the model to simulate actual driving situations and improve the accuracy and safety of the parking system more comprehensively.  
Conceptualization, Z.M., H.J. and S.M.; methodology, Z.M.; software, Z.M.; validation, Z.M., S.M. and Y.L.; formal analysis, S.M.; investigation, Z.M.; resources, H.J.; data curation, Y.L.; writing--original draft preparation, Z.M.; writing--review and editing, S.M.; visualization, Z.M.; supervision, H.J.; project administration, H.J.; funding acquisition, S.M. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the Natural Science Foundation of the Jiangsu Higher Education Institutions of China, grant number: 16 KJA580001.  
Not applicable.