System and method for supporting automated valet parking, and infrastructure and vehicle therefor

A method for performing automated valet parking, comprising:

• initializing, by an infrastructure, automated valet parking of a vehicle;
• transmitting, by the infrastructure, a map of a parking lot to the vehicle;
• transmitting, by the infrastructure, a target position and a guide route from an infrastructure to the vehicle;
• performing, by the vehicle, automated parking along the guide route;
• and
• providing, by the vehicle, measured position of the vehicle to the infrastructure by measuring a position of the vehicle based on a map and environmental information, while the vehicle performs automated driving,
• wherein the environmental information includes at least one of road signs, walls, and pillars;
• and
• wherein the environmental information is obtained based on at least one of a lidar and radar,
• wherein the measuring of the position of the vehicle comprises:
• setting, by the vehicle, an initial position of the vehicle based on the GNSS (Global Navigation Satellite System);
• estimating, by the vehicle, the position of the vehicle based on the initial position of the vehicle and behavior information of the vehicle;
• and
• correction, by the vehicle, the estimated position of the vehicle based on a template having the highest similarity to the environmental information among templates of objects included in the map.