The invention discloses a road upper layer intelligent automatic storage and retrieval parking system and a control method thereof, and belongs to the field of mechanical parking devices. The parkingsystem comprises a parking device and a control system. About the parking structure, a planar moving structure is used for the storage and retrieval of a vehicle, and through the combination of the translation and lifting movements of a vehicle loading plate, the vehicle can move and be switched according to a planned parking route on the parking platform, and by using two rows of parking spaces and one row of intermediate transition parking spaces, the transfer and parking of the vehicle can be achieved, the structure is simpler and more stable, and planning the storage and retrieval route iseasy, and the intelligent control is facilitated, moreover, the space utilization rate is higher, the storage and retrieval of the vehicle is safe and reliable, and the storage and retrieval efficiency is higher; about the control, the measurement information is detected by using vehicle sensors, and the movement of the vehicle is controlled by a programmable logic controller achieve the storageand retrieval of the vehicle, so that the automatic storage and retrieval of the vehicle is achieved, the control is simpler and more convenient, the actions for the storage and retrieval of the vehicle are coordinated and stable, and the work is more efficient.