To improve the robustness and eff ectiveness for detecting free parking spaces, we propose a LiDAR-based parking sensingsystem, which contains multi-modules, i.e., perception, free space parking lots’ construction, parking space tracking andobstacle detection. Comprehensive experiments demonstrate that our LiDAR-based parking sensing system can not onlypredict free parking spaces at a long distance, but also can achieve superior performance in terms of recall rate and accuracyof detected parking spaces. Moreover, our proposed LiDAR-based parking sensing system can achieve a signifi cant gainover the ultrasonic-based one. Therefore, our proposed system can act an eff ective solution for detecting free parking slotsat a long distance in the fi eld of autonomous driving.