Parking a caravan in the street

My daughter has bought a caravan which they have parked in a small council carpark outside their house (this is where they park their car as well)  Someone has complained that the caravan is an obstruction and they have been given 28 days notice to remove the caravan or have it impounded.  The police reckon that there is a way soneone can get permission to park a caravan legally on the road.  We live in Fife, Scotland.  Sorry if this has been answered, but I have not seen any answer to my question yet.