An automated valet parking system enables a plurality of charging parking frames in a parking place to be utilized and reduces inconvenience to an EV user using an automated valet parking service. The management device acquires a vehicle usage schedule and a remaining charge amount of each EV and determines a parking frame usage schedule of a charging parking frame. Specifically, with respect to an EV scheduled to be used on the next day, the management device assigns a charging parking frame closer to the departure/arrival place to an EV having earlier use start time on the next day. With respect to an EV not scheduled to be used on the next day and an EV whose usage schedule is unknown, the management device assigns a charging parking frame farther from the departure/arrival place to an EV with smaller remaining charge amount.