An automated valet parking method comprising: initiating an automated valet parking procedure; receiving, by a vehicle, a target position and a guide route to the target position from an infrastructure; performing, by the vehicle, autonomous driving toward the target position along the guide route; performing, by the vehicle, autonomous parking to the target position; and ending the automated valet parking procedure, wherein the method further comprises: determining, by the infrastructure, the target position and the guide route, wherein the target position includes a destination to be reached by the vehicle, and the destination includes a vacant parking slot in a parking lot or a specific spot in the vicinity of a vacant parking slot in a parking lot, and transmitting, by the infrastructure, the target position and the guide route to the vehicle, characterized in that transmitting the target position and the guide route comprises the steps of: generating a virtual lane; and transmitting the virtual lane; wherein performing the autonomous driving comprises activating an advanced driver assistance system, and wherein the advanced driver assistance system is configured to perform an adaptive cruise control and a lane following assistance. initiating an automated valet parking procedure; receiving, by a vehicle, a target position and a guide route to the target position from an infrastructure; performing, by the vehicle, autonomous driving toward the target position along the guide route; performing, by the vehicle, autonomous parking to the target position; and ending the automated valet parking procedure, wherein the method further comprises: determining, by the infrastructure, the target position and the guide route, wherein the target position includes a destination to be reached by the vehicle, and the destination includes a vacant parking slot in a parking lot or a specific spot in the vicinity of a vacant parking slot in a parking lot, and transmitting, by the infrastructure, the target position and the guide route to the vehicle, characterized in that transmitting the target position and the guide route comprises the steps of: generating a virtual lane; and transmitting the virtual lane; wherein performing the autonomous driving comprises activating an advanced driver assistance system, and wherein the advanced driver assistance system is configured to perform an adaptive cruise control and a lane following assistance. determining, by the infrastructure, the target position and the guide route, wherein the target position includes a destination to be reached by the vehicle, and the destination includes a vacant parking slot in a parking lot or a specific spot in the vicinity of a vacant parking slot in a parking lot, and transmitting, by the infrastructure, the target position and the guide route to the vehicle, characterized in that transmitting the target position and the guide route comprises the steps of: generating a virtual lane; and transmitting the virtual lane; wherein performing the autonomous driving comprises activating an advanced driver assistance system, and wherein the advanced driver assistance system is configured to perform an adaptive cruise control and a lane following assistance. generating a virtual lane; and transmitting the virtual lane; wherein performing the autonomous driving comprises activating an advanced driver assistance system, and wherein the advanced driver assistance system is configured to perform an adaptive cruise control and a lane following assistance.