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Cologne Parking
At your nearest train station, then take the train there?
Plenty of carparks, not terribly expensive. Use a GPS.
Use the Park and Ride lots. You need a special emissions sticker to drive in the center. I parked at a P&R - I thin it was the one by the zoo and it was a short and easy ride to the center. The parking was actually free when I showed them my U Bahn (subway) ticket.
IT would cost us over 100 euro to take our family to Cologne by car, including all car costs, it costs us €56.80 for the family return by train, 2 adults and 3 kids. for us it's cheaper by train.
I left my car on a side street of Aachener Strass (google it), the main street close to the motorway that goes straight into Cologne city centre. It was a sunny day so we happily walked (and stopped in many bakeries and bio shops to try everything..) but there is a tram in the middle of the street that brings you to the centre.
Cost : 0