The present disclosure relates to a methods and systems for autonomous parking of vehicles (103). The vehicle receives an input signal for parking the vehicle in parking premises (100) comprising a plurality of parking space (102) having an elevated parking boundary indicator (101). The vehicle (103) obtains a map of the parking premises (100). Further, the vehicle (103) receives a plurality of LIDAR data points (205) of the parking premises (100) and identifies a plurality of linear patterns from the plurality of LIDAR data points (205). Thereafter, the vehicle (103) detects at least two linear patterns (401) from the plurality of linear patterns, having a predefined length and parallelly spaced apart, indicating the elevated parking boundary indicator (101) of an available parking space, where the vehicle (103) can be autonomously parked in the available parking space.