Multistory car parking system garages were introduced to increase the capacity of parking garages. However, the systems have problems, such as accidents (intrapark movement and theft), searching for parking spaces, awkward boarding/deboarding at narrow designated places, and difficulties in their use by beginners and elderly people. Several studies have been conducted to address these issues. One was a proposal to introduce automatic and electric pallets for transporting vehicles, and to realize automated valet parking for entering and exiting. An electric pallet was equipped with its own sensor, which made it easier to move and realize a more effective use of space in a parking lot. However, evaluations of the capacity of the parking lot and the time efficiency of exiting demonstrated that the method was insufficient. We propose herein a method of moving automatic pallets that improves the time required for exiting in automated valet parking. Specifically, we propose to reduce the exit distance (distance to the exit) by changing how automatic pallets are moved. In this study, various sensors were introduced to move automatic pallets accurately. In addition, considering the material as the detection target of the sensor, we selected the parking lot and the passage in the multistory car park as options.