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The paper presents an overall design method of parking guidance and information system (PGIS) with CAN bus. The image capture and recognition system installed at then entrance or exit is introduced firstly. Furthermore, a protocol used in the PGIS is designed, and the decomposition of the protocol is explored. In order to implement the system, some hardware design with low cost microcontroller and the software structure are conducted subsequently. At last, the system is installed in an underground parking lot, and the experiment result shows the system is efficient with high stability.