In this paper, we are introducing an intelligent valet parking management system that guides the cars to autonomously park within a parking lot. The IPLMS for Intelligent Parking Lot Management System, consists of two modules: 1) a model car with a set of micro-controllers and sensors which can scan the environment for suitable parking spot and avoid collision to obstacles, and a Parking Lot Management System (IPLMS) which screens the parking spaces within the parking lot and offers guidelines to the car. The model car has the capability to autonomously maneuver within the parking lot using a fuzzy logic algorithm, and execute parking in the spot determined by the IPLMS, using a parking algorithm. The car receives the instructions from the IPLMS through a wireless communication link. The IPLMS has the flexibility to be adopted by any parking management system, and can potentially save the clients time to look for a parking spot, and/or to stroll from an inaccessible parking space. Moreover, the IPLMS can decrease the financial burden from the parking lot management by offering an easy-to-install system for self-guided valet parking.