A automated valet parking system using communication between an infrastructure and an autonomous vehicle to perform automated value parking, characterized in that the autonomous vehicle operates in at least one mode selected from among: an inactive mode in which settings for communication between the infrastructure and the vehicle are not yet configured; a ready mode in which the vehicle stays at a drop-off area and is identified by the infrastructure for checking in; a sleep mode in which the autonomous vehicle waits for an instruction transmitted from the infrastructure; a standby mode in which the autonomous vehicle waits for information on a destination and a route transmitted from the infrastructure; a driving mode in which the vehicle autonomously travels to the destination along the route within a parking lot; a risk management mode in which an error occurs while the vehicle is in the driving mode, wherein the error is at least one of a communication error between the vehicle and the infrastructure, an error associated with autonomous traveling of the vehicle comprising abrupt stopping of the engine, malfunctioning of cameras or ultrasonic sensors, presence of a person in the vehicle, and an error associated with the facility of the infrastructure comprising malfunctioning of sensors in the infrastructure, presence of an animal in the parking lot, presence of a non-temporary obstacle on the route; an emergency stop mode that is entered when a predetermined period of time has elapsed after the vehicle enters the risk management mode; and a recovery mode in which the vehicle waits for the error to be fixed through human intervention because the error is not fixable without human intervention, wherein a transition from the risk management mode to the standby mode or the driving mode occurs when the error is fixed while the vehicle is in the risk management mode. an inactive mode in which settings for communication between the infrastructure and the vehicle are not yet configured; a ready mode in which the vehicle stays at a drop-off area and is identified by the infrastructure for checking in; a sleep mode in which the autonomous vehicle waits for an instruction transmitted from the infrastructure; a standby mode in which the autonomous vehicle waits for information on a destination and a route transmitted from the infrastructure; a driving mode in which the vehicle autonomously travels to the destination along the route within a parking lot; a risk management mode in which an error occurs while the vehicle is in the driving mode, wherein the error is at least one of a communication error between the vehicle and the infrastructure, an error associated with autonomous traveling of the vehicle comprising abrupt stopping of the engine, malfunctioning of cameras or ultrasonic sensors, presence of a person in the vehicle, and an error associated with the facility of the infrastructure comprising malfunctioning of sensors in the infrastructure, presence of an animal in the parking lot, presence of a non-temporary obstacle on the route; an emergency stop mode that is entered when a predetermined period of time has elapsed after the vehicle enters the risk management mode; and a recovery mode in which the vehicle waits for the error to be fixed through human intervention because the error is not fixable without human intervention, wherein a transition from the risk management mode to the standby mode or the driving mode occurs when the error is fixed while the vehicle is in the risk management mode.