A map generation device comprising: - a planimetric feature position information generation unit configured to generate position information of a planimetric feature based on measurement information around a road obtained by a measuring vehicle; - a planimetric feature position information evaluation unit configured to determine evaluation value of each of a plurality of evaluation items that serve as indices for evaluation of the reliability of the positional information of the planimetric feature based on the measurement information; and - a reliability determination unit configured to determine reliability of the position information of the planimetric feature based on the evaluation value determined by the planimetric feature position information evaluation unit, wherein - the map generation device is configured to generate map information with reliability including information on the reliability of the position information of the planimetric feature, and characterized in that: the plurality of evaluation items include: - an altitude difference between a position of the planimetric feature the measurement information indicates and a surrounding thereof, or an inclination of an altitude change at a boundary between the planimetric feature and the surrounding thereof; and - a correspondence relationship between a height from a road surface at a position indicated by the position information of the planimetric feature and a size of a surface formed by composing points of the planimetric feature. - a planimetric feature position information generation unit configured to generate position information of a planimetric feature based on measurement information around a road obtained by a measuring vehicle; - a planimetric feature position information evaluation unit configured to determine evaluation value of each of a plurality of evaluation items that serve as indices for evaluation of the reliability of the positional information of the planimetric feature based on the measurement information; and - a reliability determination unit configured to determine reliability of the position information of the planimetric feature based on the evaluation value determined by the planimetric feature position information evaluation unit, wherein - the map generation device is configured to generate map information with reliability including information on the reliability of the position information of the planimetric feature, and characterized in that: the plurality of evaluation items include: - an altitude difference between a position of the planimetric feature the measurement information indicates and a surrounding thereof, or an inclination of an altitude change at a boundary between the planimetric feature and the surrounding thereof; and - a correspondence relationship between a height from a road surface at a position indicated by the position information of the planimetric feature and a size of a surface formed by composing points of the planimetric feature. - an altitude difference between a position of the planimetric feature the measurement information indicates and a surrounding thereof, or an inclination of an altitude change at a boundary between the planimetric feature and the surrounding thereof; and - a correspondence relationship between a height from a road surface at a position indicated by the position information of the planimetric feature and a size of a surface formed by composing points of the planimetric feature.