A method for use in a server for configurating a dynamic map, comprising: receiving (S101), from a roadside unit placed close to a road, first data that is acquired by a first sensor mounted in the roadside unit and that is indicative of information on surroundings of the roadside unit; configurating (S102) a dynamic map by superimposing dynamic information on the road onto a static map including the road on a basis of the received first data; computing (S103) a first region in the dynamic map that is incapable of being observed by the first sensor; receiving a plurality of attribute information items from a respective plurality of vehicles running on the road, the plurality of attribute information items being related to a respective plurality of second sensors mounted in the respective plurality of vehicles, wherein each of the plurality of second sensors acquires second data being indicative of information on surroundings of the respective plurality of vehicles; selecting (S1041) two or more second sensors that have an observation range overlapping the first region from among the plurality of second sensors; selecting (S1043) a specific second sensor from among the selected two or more second sensors on a basis of the plurality of attribute information items and the first region; receiving (S1044) specific second data acquired by the specific second sensor; reconfigurating (S105) the dynamic map by filling the first region by using the received specific second data; and distributing (S106) the reconfigurated dynamic map to at least one of the plurality of vehicles; wherein distance information is obtained from the first and the second sensors. receiving (S101), from a roadside unit placed close to a road, first data that is acquired by a first sensor mounted in the roadside unit and that is indicative of information on surroundings of the roadside unit; configurating (S102) a dynamic map by superimposing dynamic information on the road onto a static map including the road on a basis of the received first data; computing (S103) a first region in the dynamic map that is incapable of being observed by the first sensor; receiving a plurality of attribute information items from a respective plurality of vehicles running on the road, the plurality of attribute information items being related to a respective plurality of second sensors mounted in the respective plurality of vehicles, wherein each of the plurality of second sensors acquires second data being indicative of information on surroundings of the respective plurality of vehicles; selecting (S1041) two or more second sensors that have an observation range overlapping the first region from among the plurality of second sensors; selecting (S1043) a specific second sensor from among the selected two or more second sensors on a basis of the plurality of attribute information items and the first region; receiving (S1044) specific second data acquired by the specific second sensor; reconfigurating (S105) the dynamic map by filling the first region by using the received specific second data; and distributing (S106) the reconfigurated dynamic map to at least one of the plurality of vehicles; wherein distance information is obtained from the first and the second sensors. <EOS>