With the development of society and the advancement of civilization, human beings are increasingly demanding the level of intelligence, convenience, and safety of vehicles. In view of the problem of less parking lot and difficult parking, the waiting time factor is added to the A* algorithm, and the waiting time is added to the number of heuristic functions, the distance of the comprehensive path and the waiting time are two factors to plan the best path for the tasks of parking into the lot and driving out of the lot, and a three-dimensional A* intelligent parking algorithm is designed. Under the structured environment, the optimal parking space is reserved according to the given parking lot map, the optimal path of the Automated Guided Vehicle (AGV) is planned for multiple simultaneous tasks, and the AGV vehicle is arranged to go to the designated parking space or to move out of the lot, with minimized waiting time of the customers to park or take the car, and making the total cost minimum, presenting a truly "Internet-enabled" smart parking experience.