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The point of an RFID gate at the entrance of a parking lot is to automatically control who is and is not allowed inside. So, for example, you could issue RFID-enabled badges or window stickers that would be read when an authorized vehicle pulled up. The gate would open and allow them entry. Without the tag, they would be barred.
If you would like to allow guests to enter, then you would need to set up a system whereby they could obtain a temporary RFID badge that they could present to the reader upon reaching the gate. This might involve pulling up outside the entrance and going to the front gate to register their vehicle and pick up a badge. You could also have a secondary system that would read QR codes. You could set up a webpage for guests to register and print their QR codes, which they would present to a scanner at the gate.
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Why Aren’t SHF (2.4 GHz) Passive RFID Tags More Widely Used? »