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I'm assuming from your question, that you already know where are the parking spot. In that case, you could try to detect car with the OpenCV (see that question) . Then you could see if the detected car is in a parking spot or not (arriving, leaving, etc.).
Another solution, also knowing the parking spot, is to compare pixel by pixel the difference between a known empty spot and the current one. This will suffer from the illumination issue due to the sun, but could be counter-balanced with a Mixture of Gaussian for background learning, or multiple samples of the parking spot at different time of the day (it seems you have the hour on the top of the image).
