Car Parks didn't exist in the Middle Ages
If you come to Bayeux in the touristic season by car, you may have little problems: streets are narrow, and car parks have to be found... So here is one which is usually empty, and it is FREE!
Ask for the gym called "Salle Pierre de Coubertin", opposite 10 avenue avenue Georges Clémenceau: there you are! and it is 3 mn's walk to town centre... Good Luck!