A parking lot mapping system includes a server. The server is remote from a plurality of vehicles, and includes a receiver, an electronic controller and a storage device. The receiver is configured to receive data transmitted from the vehicles, the data including a route traveled and a stopping position of each of the vehicles. The electronic controller is configured to determine that each vehicle has entered a parking lot, and form a map of the parking lot including parking lot routes and parking spots based on accumulation of the data including the stopping position of each vehicle and the route traveled by each of the vehicles after determination that each vehicle vehicles has entered the parking lot. The storage device is configured to store the map of the parking lot.