You can construct an automated parking valet using the Automated Driving Toolbox. You can refer to this documentation
https://www.mathworks.com/help/driving/ug/automated-parking-valet.html that explains the process.
You can also explore the Lane Keeping Assist algorithm with lane Detection https://www.mathworks.com/help/mpc/ug/lane-keeping-assist-with-lane-detection.html