A method for autonomously parking vehicles, comprising: receiving, by an Electronic Control Unit, ECU, of a vehicle, an input signal for parking the vehicle in parking premises comprising a plurality of parking spaces, wherein each parking space is associated with an elevated parking boundary indicator; obtaining, by the ECU, a map of the parking premises for navigating the vehicle along the parking premises; receiving, by the ECU, a plurality of Light Detection and Ranging, LIDAR, data points of the parking premises while navigating the vehicle along the parking premises; identifying, by the ECU, a plurality of linear patterns from the plurality of LIDAR data points of the parking premises; and detecting, by the ECU, at least two linear patterns from the plurality of linear patterns, having a predefined length and parallelly spaced apart, wherein the at least two linear patterns correspond to LIDAR data points indicating the elevated parking boundary indicator of an available parking space; and determining the available parking space based on at least the two linear patterns and the obtained map, wherein the vehicle can be autonomously parked in the available parking space, wherein parking the vehicle in the available parking space comprises: determining a longitudinal axis of the available parking space; aligning a longitudinal axis of the vehicle with the longitudinal axis of the available parking space by incrementally rotating the vehicle in a predefined angle, wherein the vehicle is rotated incrementally by at least 5 degrees based on an angular difference in the longitudinal axis of the vehicle and the longitudinal axis of the available parking space; and steering the vehicle along the longitudinal axis of the vehicle for parking the vehicle in the available parking space, wherein the vehicle is steered in one of a forward direction and a reverse direction. receiving, by an Electronic Control Unit, ECU, of a vehicle, an input signal for parking the vehicle in parking premises comprising a plurality of parking spaces, wherein each parking space is associated with an elevated parking boundary indicator; obtaining, by the ECU, a map of the parking premises for navigating the vehicle along the parking premises; receiving, by the ECU, a plurality of Light Detection and Ranging, LIDAR, data points of the parking premises while navigating the vehicle along the parking premises; identifying, by the ECU, a plurality of linear patterns from the plurality of LIDAR data points of the parking premises; and detecting, by the ECU, at least two linear patterns from the plurality of linear patterns, having a predefined length and parallelly spaced apart, wherein the at least two linear patterns correspond to LIDAR data points indicating the elevated parking boundary indicator of an available parking space; and determining the available parking space based on at least the two linear patterns and the obtained map, wherein the vehicle can be autonomously parked in the available parking space, wherein parking the vehicle in the available parking space comprises: determining a longitudinal axis of the available parking space; aligning a longitudinal axis of the vehicle with the longitudinal axis of the available parking space by incrementally rotating the vehicle in a predefined angle, wherein the vehicle is rotated incrementally by at least 5 degrees based on an angular difference in the longitudinal axis of the vehicle and the longitudinal axis of the available parking space; and steering the vehicle along the longitudinal axis of the vehicle for parking the vehicle in the available parking space, wherein the vehicle is steered in one of a forward direction and a reverse direction. determining a longitudinal axis of the available parking space; aligning a longitudinal axis of the vehicle with the longitudinal axis of the available parking space by incrementally rotating the vehicle in a predefined angle, wherein the vehicle is rotated incrementally by at least 5 degrees based on an angular difference in the longitudinal axis of the vehicle and the longitudinal axis of the available parking space; and steering the vehicle along the longitudinal axis of the vehicle for parking the vehicle in the available parking space, wherein the vehicle is steered in one of a forward direction and a reverse direction.