The autonomous vehicle valet parking service (AVP) enables a vehicle to drive and park without any human interaction. The driverless vehicle has to follow the scheduled route and be parked in a parking lot automatically. Most fundamental technologies for autonomous vehicle valet parking service are controlling vehicle driving and parking. For autonomous driving, the path to near goal parking lot has to be generated and control commands to follow the path have to be generated continuously. For autonomous parking, the controlling vehicle steer value has to be found to park the vehicle at slot well. And also the mobile assistant system is needed for driver to select the parking lot and monitoring the state of the vehicle in remote. In this paper, we have designed and implemented the systems for autonomous vehicle valet parking service in low speed limited parking area.