Aiming at the problem of berth allocation for vehicles applying for parking guidance at different entrances of the same parking lot at the same time, a bi-level objective berth allocation model was proposed, which took the minimum total time consumption of the system as the first level goal and the similar total time consumption of a single parking person as the second level goal. The impact of parking behaviors on the travel time in the driving lane was analyzed, and the fuzzy comprehensive evaluation method was used to analyze the parking time. According to different ratios of the number of vehicles waiting to be parked in the system and the number of effective berth in the parking lot in the period of △t, different influencing factors were selected, and different parking allocation strategies were formulated. The example shows that the model can adapt to the situation that the parking lot is full or empty, overcome the non uniqueness of the optimal solution of the single objective model, and achieve the goal of minimizing the total time consumption in the system and the similar time consumption of each parking person.