An automated valet parking system that causes an autonomous driving vehicle in a parking place to autonomously travel toward a target parking space and causes the autonomous driving vehicle to be automatically parked in the target parking space, the system comprising: a first movement permission area setting unit configured to set a movement permission area for autonomous traveling that includes a part of a traveling path along which the autonomous driving vehicle reaches the target parking space and does not include the target parking space, based on positional information of the autonomous driving vehicle, positional information of the target parking space, and parking place map information; a first movement permission area instruction unit configured to, when the movement permission area for autonomous traveling is set, instruct the autonomous driving vehicle about the movement permission area for autonomous traveling; a second movement permission area setting unit configured to, when it is determined that the autonomous driving vehicle has arrived near the target parking space or when notification of a start of the automated valet parking for the target parking space is sent from the autonomous driving vehicle, set a movement permission area for automated valet parking that includes the target parking space and a part of the traveling path near the target parking space based on the positional information of the autonomous driving vehicle, the positional information of the target parking space, and the parking place map information; and a second movement permission area instruction unit configured to, when the movement permission area for automated valet parking is set, instruct the autonomous driving vehicle about the movement permission area for automated valet parking. a first movement permission area setting unit configured to set a movement permission area for autonomous traveling that includes a part of a traveling path along which the autonomous driving vehicle reaches the target parking space and does not include the target parking space, based on positional information of the autonomous driving vehicle, positional information of the target parking space, and parking place map information; a first movement permission area instruction unit configured to, when the movement permission area for autonomous traveling is set, instruct the autonomous driving vehicle about the movement permission area for autonomous traveling; a second movement permission area setting unit configured to, when it is determined that the autonomous driving vehicle has arrived near the target parking space or when notification of a start of the automated valet parking for the target parking space is sent from the autonomous driving vehicle, set a movement permission area for automated valet parking that includes the target parking space and a part of the traveling path near the target parking space based on the positional information of the autonomous driving vehicle, the positional information of the target parking space, and the parking place map information; and a second movement permission area instruction unit configured to, when the movement permission area for automated valet parking is set, instruct the autonomous driving vehicle about the movement permission area for automated valet parking.