An automated valet parking method comprising: receiving, by a vehicle that is parked, a vehicle return request; receiving, by the vehicle, a guide route from a current parking position to a pickup area from an infrastructure; preparing, by the vehicle, to leave the current parking position based on the guide route; and performing autonomous driving, by the vehicle, from the current parking position to the pickup area along the guide route; arriving, by the vehicle, at the pickup area; receiving, by the vehicle, a vehicle control release instruction instructing engine off or power off from the infrastructure after the vehicle arrives at the pickup area; and performing, by the vehicle, engine off or power off according to the vehicle control release instruction, wherein the preparing to leave the current parking position comprises: receiving, by the vehicle, a vehicle exiting signal from the infrastructure; and performing, by the vehicle a vehicle starting operation when receiving the vehicle exiting signal; wherein a driving authority is delegated from the infrastructure to the driver of the vehicle after the vehicle arrives at the pickup area, characterized in that the infrastructure transmits the vehicle exiting signal when it is determined that the vehicle is allowed to leave the current parking position based on information of the pickup area and the information of the pickup area includes at least one type of information selected from among the number of vehicles existing in the pickup area, the number of vehicles moving toward the pickup area, the number of vehicles that have previously received respective vehicle return requests, and the number of drivers waiting in the pickup area. receiving, by a vehicle that is parked, a vehicle return request; receiving, by the vehicle, a guide route from a current parking position to a pickup area from an infrastructure; preparing, by the vehicle, to leave the current parking position based on the guide route; and performing autonomous driving, by the vehicle, from the current parking position to the pickup area along the guide route; arriving, by the vehicle, at the pickup area; receiving, by the vehicle, a vehicle control release instruction instructing engine off or power off from the infrastructure after the vehicle arrives at the pickup area; and performing, by the vehicle, engine off or power off according to the vehicle control release instruction, wherein the preparing to leave the current parking position comprises: receiving, by the vehicle, a vehicle exiting signal from the infrastructure; and performing, by the vehicle a vehicle starting operation when receiving the vehicle exiting signal; wherein a driving authority is delegated from the infrastructure to the driver of the vehicle after the vehicle arrives at the pickup area, characterized in that the infrastructure transmits the vehicle exiting signal when it is determined that the vehicle is allowed to leave the current parking position based on information of the pickup area and the information of the pickup area includes at least one type of information selected from among the number of vehicles existing in the pickup area, the number of vehicles moving toward the pickup area, the number of vehicles that have previously received respective vehicle return requests, and the number of drivers waiting in the pickup area. receiving, by the vehicle, a vehicle exiting signal from the infrastructure; and performing, by the vehicle a vehicle starting operation when receiving the vehicle exiting signal; wherein a driving authority is delegated from the infrastructure to the driver of the vehicle after the vehicle arrives at the pickup area, characterized in that the infrastructure transmits the vehicle exiting signal when it is determined that the vehicle is allowed to leave the current parking position based on information of the pickup area and the information of the pickup area includes at least one type of information selected from among the number of vehicles existing in the pickup area, the number of vehicles moving toward the pickup area, the number of vehicles that have previously received respective vehicle return requests, and the number of drivers waiting in the pickup area.