Point a camera at the spots when unoccupied.Specify the spots exact coordinates to the camera. Set color as baseline. If the color changes by 50% or more, they are occupied. Send alert when all occupied, or when not all occupied.
Well I've got the raspberry pi, mjpeg, a camera that works. Just need to make the logic work. Here is what I'm stuck on. http://i.imgur.com/pIy3QNt.jpg
You could also zoom in so you would be looking at a car if it is parked there, and then upload the image to the microsoft caption bot service. It's pretty good at recognizing cars already, and you can just search the result for the word "car"
IFTTT api to create geo fence on my route home to poll the Pi "are there spaces left?" with an email or response yes or no with a photo at the current time.