A safety barrier assembly is provided for a parking garage is positioned in proximity to an opening for a VRC and includes a horizontal AGV safety beam and upper and lower pedestrian barriers having horizontal railings and vertical legs. The vertical legs are slidable within openings at opposite ends of the AGV safety beam. The vertical legs of the upper pedestrian barrier are longer than those of the lower pedestrian barrier. The AGV safety beam can be moved vertically between a lower position where the AGV safety beam is substantially adjacent a floor of the parking garage and an upper position where the AGV safety beam is elevated from the floor. The horizontal railings of the pedestrian barriers are parallel to and spaced above the AGV safety beam in the lower position. However, the horizontal railings abut the AGV safety beam in the upper position.