In the future, automated valet parking will further relieve the strain on people and create new opportunities for efficient use of existing parking capacities. Based on on-board sensors, the automated vehicle perceives the environment and locates itself globally on a freely available map. It also explores its surroundings automatically until a free parking space is detected. Then a parking maneuver is started. Based on the environment model, the vehicle plans an optimal trajectory and the corresponding control variables to move the vehicle. The goal of the project is to find the minimum necessary input (i.e., sensor setup, quality of maps) for the success of exploratory driving in the context of automated valet parking.