An automated valet parking system in which a parking lot management server that manages a parking lot gives an instruction to an autonomous driving vehicle (2,2X) in the parking lot to cause the autonomous driving vehicle (2,2X) to be automatically parked in a target parking space in the parking lot, the system comprising: a traveling coordinate acquisition unit configured to acquire information on a plurality of traveling coordinates (65,66,67) arranged along a runway (RW1,RW2) of the parking lot to an entrance of the target parking space based on a vehicle position of the autonomous driving vehicle (2,2X), a position of the target parking space, and parking lot map information; and a trajectory generation unit configured to generate a trajectory (T2,T4) of the autonomous driving vehicle (2,2X) based on the information on the traveling coordinates (65,66,67) and a result of detection from an in-vehicle external sensor, wherein the trajectory generation unit is configured to determine whether or not the entrance of the target parking space is recognizable based on an object recognition range that is a range in which an object (L2,L3) is recognized with at least a certain accuracy using the external sensor and is a range based on a predetermined position of the autonomous driving vehicle (2,2X), the information on the traveling coordinates (65,66,67), and the position of the target parking space, and generate the trajectory (T2,T4) that brings the autonomous driving vehicle (2,2X) closer to the target parking space on the runway (RW1,RW2) so that the object (L2,L3) for recognizing the entrance of the target parking space is included in the object recognition range when it is determined that the entrance of the target parking space is not recognizable; wherein the traveling coordinates (65,66,67) include a first coordinate (65A,65B) that is a coordinate constituting the trajectory (T2,T4) and is located on the runway (RW1,RW2) facing the target parking space, and a second coordinate (66A,66B) that is a coordinate constituting the trajectory (T2,T4) and is located behind the first coordinate (65A,65B) by a predetermined number in an advancing direction of the autonomous driving vehicle (2,2X), and wherein the trajectory generation unit is configured to generate the trajectory (T2,T4) to bring the autonomous driving vehicle (2,2X) closer to the target parking space in a section ahead of the second coordinate (66A,66B). a traveling coordinate acquisition unit configured to acquire information on a plurality of traveling coordinates (65,66,67) arranged along a runway (RW1,RW2) of the parking lot to an entrance of the target parking space based on a vehicle position of the autonomous driving vehicle (2,2X), a position of the target parking space, and parking lot map information; and a trajectory generation unit configured to generate a trajectory (T2,T4) of the autonomous driving vehicle (2,2X) based on the information on the traveling coordinates (65,66,67) and a result of detection from an in-vehicle external sensor, wherein the trajectory generation unit is configured to determine whether or not the entrance of the target parking space is recognizable based on an object recognition range that is a range in which an object (L2,L3) is recognized with at least a certain accuracy using the external sensor and is a range based on a predetermined position of the autonomous driving vehicle (2,2X), the information on the traveling coordinates (65,66,67), and the position of the target parking space, and generate the trajectory (T2,T4) that brings the autonomous driving vehicle (2,2X) closer to the target parking space on the runway (RW1,RW2) so that the object (L2,L3) for recognizing the entrance of the target parking space is included in the object recognition range when it is determined that the entrance of the target parking space is not recognizable; wherein the traveling coordinates (65,66,67) include a first coordinate (65A,65B) that is a coordinate constituting the trajectory (T2,T4) and is located on the runway (RW1,RW2) facing the target parking space, and a second coordinate (66A,66B) that is a coordinate constituting the trajectory (T2,T4) and is located behind the first coordinate (65A,65B) by a predetermined number in an advancing direction of the autonomous driving vehicle (2,2X), and wherein the trajectory generation unit is configured to generate the trajectory (T2,T4) to bring the autonomous driving vehicle (2,2X) closer to the target parking space in a section ahead of the second coordinate (66A,66B).