An automatic valet parking system includes a vehicle, a parking server, and a map server. The parking server includes a server-side operation planning portion that generates a server-side operation plan including a route for guiding the vehicle to a target position. The vehicle includes: an operation plan determination portion that determines whether the server-side operation plan is false; an automatic operation control portion that performs automatic operation control according to the server-side operation plan; and an information transmission portion that acquires vehicle-related information about the vehicle and to transmit the vehicle-related information to the parking server when the operation plan determination portion determines that the server-side operation plan is false.