A method for automated parking of a vehicle. The vehicle comprises a plurality of proximity sensors configured to detect the proximity of an object in the vicinity of the vehicle. The method comprises, in the vehicle: receiving a command to perform a parking maneuver; determining an expected parking area for the vehicle; determining a movement direction of the vehicle for reaching the expected parking area; determining a maneuver zone in the vicinity of the vehicle in the direction of the expected parking area; determining that only one object is located in the maneuver zone; determining that the object located in the maneuver zone is an authorized user of the vehicle; verifying that the authorized user moves out of the maneuver zone, thereby establishing that the maneuver zone is clear; and performing the parking maneuver.