A system for updating a Highly Automated Driving map, comprising: a plurality of terminals (131, 132, 133, 134) including at least one camera configured to acquire image data; and a server comprising: a communication interface configured to communicate with the plurality of terminals (131, 132, 133, 134) via a network; a storage configured to store the HAD map; and at least one processor, characterized in that the plurality of terminals (131, 132, 133, 134) are configured to: acquire first image data indicative of objects associated with the HAD map; detect at least one changing object based on the first image data; and report the at least one changing object to the at least one processor, and the at least one processor is configured to: instruct the plurality of terminals (131, 132, 133, 134) to acquire second image data of the at least one changing object at varying view positions; receive the second image data from the plurality of terminals (131, 132, 133, 134); construct a three-dimensional model for the at least one changing object from the second image data; and update the HAD map based on the three-dimensional model. a plurality of terminals (131, 132, 133, 134) including at least one camera configured to acquire image data; and a server comprising: a communication interface configured to communicate with the plurality of terminals (131, 132, 133, 134) via a network; a storage configured to store the HAD map; and at least one processor, characterized in that the plurality of terminals (131, 132, 133, 134) are configured to: acquire first image data indicative of objects associated with the HAD map; detect at least one changing object based on the first image data; and report the at least one changing object to the at least one processor, and the at least one processor is configured to: instruct the plurality of terminals (131, 132, 133, 134) to acquire second image data of the at least one changing object at varying view positions; receive the second image data from the plurality of terminals (131, 132, 133, 134); construct a three-dimensional model for the at least one changing object from the second image data; and update the HAD map based on the three-dimensional model. a communication interface configured to communicate with the plurality of terminals (131, 132, 133, 134) via a network; a storage configured to store the HAD map; and at least one processor, characterized in that the plurality of terminals (131, 132, 133, 134) are configured to: acquire first image data indicative of objects associated with the HAD map; detect at least one changing object based on the first image data; and report the at least one changing object to the at least one processor, and the at least one processor is configured to: instruct the plurality of terminals (131, 132, 133, 134) to acquire second image data of the at least one changing object at varying view positions; receive the second image data from the plurality of terminals (131, 132, 133, 134); construct a three-dimensional model for the at least one changing object from the second image data; and update the HAD map based on the three-dimensional model. acquire first image data indicative of objects associated with the HAD map; detect at least one changing object based on the first image data; and report the at least one changing object to the at least one processor, and the at least one processor is configured to: instruct the plurality of terminals (131, 132, 133, 134) to acquire second image data of the at least one changing object at varying view positions; receive the second image data from the plurality of terminals (131, 132, 133, 134); construct a three-dimensional model for the at least one changing object from the second image data; and update the HAD map based on the three-dimensional model. instruct the plurality of terminals (131, 132, 133, 134) to acquire second image data of the at least one changing object at varying view positions; receive the second image data from the plurality of terminals (131, 132, 133, 134); construct a three-dimensional model for the at least one changing object from the second image data; and update the HAD map based on the three-dimensional model.