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In order to reduce the number and total distance of changing parking spaces in a parking lot or a given parking area through autonomous valet parking (AVP), in doing so to lower the related cost and the potential accident risk, this paper formula ted a vehicle-slot matching optimization model which satisfied the shared parking requirement. In view of the feature of autonomous vehicle freely translocating during parking, this paper defined the match, match slice and match map corresponding to decision variable and feasible solution by subdividing the shared parking demand and supply in time. By conception replacement, the paper changed the searching effective neighbor of match map into the classic assignment problem and solved it with Hungarian algorithm. In view of the NP-hard feature of the matching model, this paper proposed a designed tabu searching algorithm. Numerical analysis not only verified the rationality of this model and the effectiveness of the algorithm, also proved that the model and algorithm could deal with the shared parking of conventional vehicles. The results show that AVP can improve the utility of shared parking berths and increase the number of served vehicles. [ABSTRACT FROM AUTHOR]