Provided is an incoming and outgoing vehicle management method and an incoming and outgoing vehicle management system that are based on a vehicle number and a vehicle type identified therefrom, the method and system including: receiving incoming vehicle information including a vehicle number recognized from a vehicle image, and incoming time or an incoming gate identifier; determining a vehicle type by using the vehicle number of the incoming vehicle information; and generating an incoming vehicle message for directing the incoming vehicle to an incoming gate and transmitting the generated incoming vehicle message to a portable terminal designated to a user of the vehicle, wherein the incoming vehicle message includes incoming identification information that indicates the recognized vehicle number, and the incoming time or the incoming gate identifier.