The invention discloses an underground parking lot parking charging processing method. A first collection unit, a parking lot entrance management unit, display terminals and a parking lot outlet management unit are comprised, wherein the first collection unit is used for generating an underground parking lot map and displaying corresponding building numbers in the underground parking lot map, theparking lot entrance management unit is used for identifying the identity of a vehicle entering a parking lot and distributing one display terminal to each vehicle, the display terminals are used foracquiring the idle parking stall information of the parking lot in real time, acquiring the underground parking lot map, generating a final selected parking stall and navigating a user to the final selected parking stall based on the position information of the final selected parking stall in the underground parking lot map, and the parking lot outlet management unit is used for identifying the identity of the outgoing vehicle of the parking lot and regaining the display terminal matched with the vehicle. The proper parking stall can be intelligently selected for the user according to the destination in the underground parking lot, and the accurate navigation technical effect is achieved.