Automated valet parking system

An automated valet parking system configured to give an instruction to an autonomous vehicle in a parking place such that the autonomous vehicle drives autonomously along a plurality of passages of the parking place and parks at a target parking space in the parking place, the system comprising:

• a first vehicle location acquisition unit configured to acquire, based on a detection result of an in-vehicle sensor of the autonomous vehicle and parking place map information including target information in the parking place, a first vehicle location that is a location of the autonomous vehicle on a parking place map;
• a second vehicle location acquisition unit configured to acquire, based on a detection result of a facility sensor located in the parking place and configured to recognize a situation in the parking place, a second vehicle location that is a location of the autonomous vehicle on the parking place map;
• and
• a location fail determiner configured to determine, based on the first vehicle location and the second vehicle location, presence or absence of location fail of the autonomous vehicle with respect to the first vehicle location, wherein:
• the first vehicle location includes a first longitudinal location along an extending direction of the passages, and a first lateral location along a width direction of the passages;
• the second vehicle location includes a second longitudinal location along the extending direction, and a second lateral location along the width direction;
• the location fail determiner is configured to determine that the location fail is present at least in one case out of a case where a difference between the first longitudinal location and the second longitudinal location is equal to or greater than a longitudinal threshold and a case where a difference between the first lateral location and the second lateral location is equal to or greater than a lateral threshold;
• and
• the lateral threshold is smaller than the longitudinal threshold.