OUTPUT DEVICE, CONTROL METHOD, PROGRAM AND STORAGE MEDIUM

An onboard device acquires, from map DB including voxel data, reliability information included in the voxel data corresponding to voxels around the route when determining that the accuracy of an estimated position has decreased. Then, on the basis of the acquired reliability information, the onboard device sets a voxel suitable for estimating the own vehicle position as a reference voxel Btag. Then, the onboard device output, to an electronic control device of the vehicle, control information for correcting the target track of the vehicle so as for the vehicle to pass the position suitable for measuring the reference voxel Btag.