## 1 Introduction  
With the comprehensive development of China's economy, society, and living standards, the scale of cities has also increased dramatically with the construction of a large number of urban complexes. Since urban complexes have strong traffic generation and attraction, the construction of parking facilities is required. Specifically, the construction of super-large parking lots is one of the important ways to solve parking difficulties in urban complexes, which contain over 2000 parking spaces on a single level and the total number of parking spaces exceeds 5000 [1,2]. For a large-scale urban complex, the bigger the building area, the more concentrated the parking demand, with more parking spaces and exits being required. Generally, underground parking lots are equipped with different numbers of parking spaces according to the construction area of 30-40 m\({}^{2}\)/per standard parking space. Moreover, the number of entrances and exits of the parking lot also depends on the number of parking spaces [3]. The entrances and exits of parking lots are the bottleneck, as they connect the internal road of parking lots and external ground-level roads. The control of parking lot entrancesand exits can provide efficient services for parking vehicles and increase the accessibility of parking lots. Meanwhile, parking lot control can minimize the negative influences of super-large parking lots on surrounding roads. However, most studies of the entrances and exits of parking lots focus on the location and design of entrances and exits. For example, [PERSON] and [PERSON] used queuing theory to study the length and location of the entrance and exit lanes to reduce the impact on road traffic flow [4]. [PERSON] et al. conducted a theoretical analysis on the location selection of parking entrances and exits [5]. In recent years, various studies have focused on the association between the traffic organization of entrances, exits, and traffic. [PERSON] et al. proposed that parking lot entrances and exits are bridges for connecting static and dynamic traffic and emphasized the importance of traffic organization [6]. [PERSON] et al. investigated traffic at the interface between parking lot entrances and main roads and indicated that the traffic delays on the main road were caused by vehicles entering and exiting parking lots. Their research on the traffic organization of entrances and exits shifted from qualitative to quantitative analyses [7]. [PERSON] et al. studied the effect of vehicles entering and exiting parking lots on the driving speed of main roads, and called the traffic blockage caused by the intersection of vehicles that leave parking lots and enter main roads the \"blocking effect\" [8]. [PERSON] et al. analyzed the impact of different traffic organization designs on the connected roads and the degree of the impact based on VISSIM simulation. Their study showed that the impact (e.g., delay, speed, and stop times) on the traffic flow of the main road varies greatly when vehicles leave parking lots, according to the allowed intersections or following the main road priority policy [9]. Recently, more and more studies focus on the traffic organization and control of parking lot exits, but few studies pay attention to the implementation of intelligent control of parking lot exits based on the static traffic demand of parking lots and the real-time state of ground-level dynamic traffic. In addition, the robustness and stability of control strategies are crucial in real-world applications. Fault detection and the influence of disturbances, modeling errors, delays, and various uncertainties in real systems should be considered to achieve better practical performance in complicated systems [10; 11; 12; 13]. However, it is difficult to consider the aforementioned factors in traditional manual management. With the development of technologies, the parking management system has shifted from manual management to intelligent management.