In the context of automated driving, Automated Valet Parking (AVP) is a functionality that aims at parking and retrieving vehicles in a suitably equipped infrastructure. In recent years, AVP showed its great potential in optimizing parking spaces, fuel consumption and reducing driving stress and time waste for parking maneuvers. From a methodological standpoint, the main contribution of this thesis is the development of an ego-based AVP approach. In such a context, the infrastructure provides a minimum amount of information about the parking structure. On the other hand, the needed intelligence is allocated to the vehicle, which handles path planning and tracking, environmental awareness, obstacle avoidance and parking maneuvers.