Unless otherwise stated, lectures take place in one of these rooms: room B.02, B.03, B1.09, B1.08, B1.06. These are all in the main CSI building (the module coordinator should confirm this). This is Building 17 on this map.
More than you ever wanted to know about commuting to UCD.
The specialised ASE modules run outside of normal term time, so the pressure on parking spaces isn't so great. If you're coming to visit your project supervisor during the day in term time, it is better not to drive if possible. If you do drive, parking is usually available in special (and expensive) visitor parking zones.
Finally, please note that incorrectly parked cars are liable to be clamped, and are very likely to be.