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There is a great spot for it, free and out of the way so no one bothers you. Go up the Rue Professor Viera Natividade towards the bus stop and take the bridge on your right, then when you see the apartment building you take the left road and follow it out to the motor way. Once there hook left again and you'll be taken into a wooded area that is full of trees and perfect for camping, the only draw back is that it is loud next to the road, but no one will find you here, or if you skip the bridge and go up the road a ways there is an old abandoned building that is perfect and sheltered

* [http://www.brisa.pt/PresentationLayer/areasservico.aspx BRISA] has information on all the motorways in Portugal and their exits and petrol stations.