MAP GENERATION DEVICE, CONTROL METHOD, PROGRAM AND STORAGE MEDIUM

A server device is a map generation device which assigns, to voxel data in the map DB which is divided into multiple voxels, a first weight value for each voxel, wherein the first weight value is associated with the presence of a stationary object and a moving object. Then, the server device acquires upload information Iu which includes position information relating to a travelling route of a measurement vehicle during measurement of point cloud data needed for generation or update of the voxel data. Then, the server device determines the first weight value for each voxel based on the travelling route of the measurement vehicle identified by the position information included in the upload information Iu.