Christopher Alexander wrote about this problem. The trick is to make it possible for cars to come in the surroundings of a city center without interacting with

Christopher Alexander wrote about this problem. The trick is to make it possible for cars to come in the surroundings of a city center without interacting with people. This post is too short to explain the details but when you have a walking area in front of shops you can have a parking area at the back side of the shops.