An automated valet parking method, comprising: activating an automated valet parking procedure; determining whether charging of an electric vehicle is needed or not; when the electrical charging of the electric vehicle is needed, communicating necessary information for charging between the electric vehicle and a parking infrastructure, the necessary information for charging including information on whether wireless charging of the electric vehicle is possible; transmitting, by the parking infrastructure, an inquiry message to a charging infrastructure to check whether the electrical vehicle can receive an electrical charging service; upon receiving the inquiry message, determining, by the charging infrastructure, whether the charging infrastructure can offer the electrical charging service to the electric vehicle based on the necessary information for charging, the determination whether the charging infrastructure can offer the electrical charging service to the electric vehicle based on the necessary information for charging including determining that the charging of the electric vehicle is not possible, when a wireless charging equipment installed in a parking lot is not compatible with the charging mechanism of the electric vehicle; when the charging infrastructure determines that the charging of the electric vehicle is possible, transmitting, by the charging infrastructure, to the parking infrastructure an empty space in a wireless charging service zone as a first target position and a first guide route that guides the electric vehicle to the first target position; transmitting, by the parking infrastructure, the first target position within the wireless charging service zone and the first guide route for the first target position to the electric vehicle, and when the charging infrastructure determines that the charging of the electric vehicle is not possible, transmitting, by the charging infrastructure, a reply message of notifying the parking infrastructure that the charging is impossible, and transmitting, by the parking infrastructure, to the electric vehicle a second target position and a second guide route that guides the electric vehicle to the second target position, the second target positon and second guide route being related to an empty parking space in the parking lot. activating an automated valet parking procedure; determining whether charging of an electric vehicle is needed or not; when the electrical charging of the electric vehicle is needed, communicating necessary information for charging between the electric vehicle and a parking infrastructure, the necessary information for charging including information on whether wireless charging of the electric vehicle is possible; transmitting, by the parking infrastructure, an inquiry message to a charging infrastructure to check whether the electrical vehicle can receive an electrical charging service; upon receiving the inquiry message, determining, by the charging infrastructure, whether the charging infrastructure can offer the electrical charging service to the electric vehicle based on the necessary information for charging, the determination whether the charging infrastructure can offer the electrical charging service to the electric vehicle based on the necessary information for charging including determining that the charging of the electric vehicle is not possible, when a wireless charging equipment installed in a parking lot is not compatible with the charging mechanism of the electric vehicle; when the charging infrastructure determines that the charging of the electric vehicle is possible, transmitting, by the charging infrastructure, to the parking infrastructure an empty space in a wireless charging service zone as a first target position and a first guide route that guides the electric vehicle to the first target position; transmitting, by the parking infrastructure, the first target position within the wireless charging service zone and the first guide route for the first target position to the electric vehicle, and when the charging infrastructure determines that the charging of the electric vehicle is not possible, transmitting, by the charging infrastructure, a reply message of notifying the parking infrastructure that the charging is impossible, and transmitting, by the parking infrastructure, to the electric vehicle a second target position and a second guide route that guides the electric vehicle to the second target position, the second target positon and second guide route being related to an empty parking space in the parking lot.