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. <EOS>