An automated parking system has a parking entrance unit, a vehicle transport shuttle, shuttle trail means, plurality of parking locations and a controller. The controller is adapted to establish communication with an autonomous vehicle (AV) to be parked in the parking system, to receive signal from the AV indicating that the AV is ready to be controlled by the controller, to receive signal indicating that the parking system is ready to receive and park the AV, to control the movement of the AV toward the vehicle transport shuttle, to control the movement of the vehicle transport shuttle toward a designated parking location and to control the movement of the AV toward the designated parking location.