In the context of autonomous driving, Automated Valet Parking (AVP) is a function that parks and retrieves vehicles in a suitable parking infrastructure. In recent years, AVP became an interesting topic for researchers due to its several advantages such as optimization of parking spaces, fuel consumption, reduction of driving stress and time saving for parking maneuvers. The main contribution of this thesis is the development of a vehicle ego-based approach, i.e., the infrastructure provides a minimum amount of information about the parking structure, while the necessary intelligence for automated valet parking is allocated to the vehicle, which takes care of path planning and tracking, obstacle avoidance and parking maneuver.