This document defines a dedicated security framework for AVDS (Automated Valet Driving Systems) and for the interaction of AVDS subsystems, which addresses the security threats and risks associated with AVDS. The threats and associated risks are derived from an overview of the attack surfaces of the AVDS. This system-level assessment is separated into threats for AVDS components and threats for communication in the AVDS. The component threats are addressed with a security concept to provide a trusted foundation on which security measures for the communication are defined. Special consideration is taken for managing trust in the ecosystem in order to enable interoperability. The specified security means are applicable to AVDS and the utilized communication technology to ensure interoperability between all contributing entities. This document defines dedicated security procedures for AVDS and therefore does not replace the requirements in ISO 21434 or any other security engineering processes for the components in the AVDS. Known communication protocols and security methods applicable for AVDS, such as cryptography, are indicated by references to other standards.