An automated parking system of a vehicle autonomously moves to and parks in a vacant parking slot based on communication with an infrastructure facility for automated parking. In particular, the infrastructure facility transmits an autonomous valet parking start command to the vehicle and then transmits a target position and a guide route to the vehicle. The vehicle performs autonomous valet parking based on the target position and the guide route received from the infrastructure facility, and may apply an emergency brake when an area around the vehicle is determined as being unsafe during autonomous driving to the target position.