The police will be assholes and try to bust you on something. They may try to give you a ticket for careless driving. They can swing it that way because you are calling in to admit you were drifting (driving carelessly) in the lot. It can be fought, but not worth the time and effort.
The only way to get permission is to call the property manager, landlord, etc etc… the person watching over the actual property that is probably not directly related to the police. They are the ones that make the final decision on if you can come onto their property or not. The police just try to act as Civil Mediators (however biased)
My recommendation: DON’T TALK TO THE POLICE