An automated valet parking system that executes automated valet parking of an autonomous driving vehicle in a parking place by issuing an instruction related to a target vehicle speed and a target route to the autonomous driving vehicle, the system comprising: a vehicle information acquisition unit configured to acquire positional information of the autonomous driving vehicle in the parking place; characterised in that the system comprises: a condition determination unit configured to determine whether or not the autonomous driving vehicle satisfies a preset inter-vehicle communication traveling condition based on the positional information of the autonomous driving vehicle in the parking place acquired by the vehicle information acquisition unit; and an inter-vehicle communication traveling instruction unit configured to cause the autonomous driving vehicle determined to satisfy the inter-vehicle communication traveling condition by the condition determination unit to perform inter-vehicle communication traveling by inter-vehicle communication, wherein, in the inter-vehicle communication traveling, the autonomous driving vehicle is caused to preferentially perform vehicle speed adjustment for vehicle approach suppression by the inter-vehicle communication over the target vehicle speed for the automated valet parking. a vehicle information acquisition unit configured to acquire positional information of the autonomous driving vehicle in the parking place; characterised in that the system comprises: a condition determination unit configured to determine whether or not the autonomous driving vehicle satisfies a preset inter-vehicle communication traveling condition based on the positional information of the autonomous driving vehicle in the parking place acquired by the vehicle information acquisition unit; and an inter-vehicle communication traveling instruction unit configured to cause the autonomous driving vehicle determined to satisfy the inter-vehicle communication traveling condition by the condition determination unit to perform inter-vehicle communication traveling by inter-vehicle communication, wherein, in the inter-vehicle communication traveling, the autonomous driving vehicle is caused to preferentially perform vehicle speed adjustment for vehicle approach suppression by the inter-vehicle communication over the target vehicle speed for the automated valet parking. a condition determination unit configured to determine whether or not the autonomous driving vehicle satisfies a preset inter-vehicle communication traveling condition based on the positional information of the autonomous driving vehicle in the parking place acquired by the vehicle information acquisition unit; and an inter-vehicle communication traveling instruction unit configured to cause the autonomous driving vehicle determined to satisfy the inter-vehicle communication traveling condition by the condition determination unit to perform inter-vehicle communication traveling by inter-vehicle communication, wherein, in the inter-vehicle communication traveling, the autonomous driving vehicle is caused to preferentially perform vehicle speed adjustment for vehicle approach suppression by the inter-vehicle communication over the target vehicle speed for the automated valet parking.