A method used in a server includes configurating a dynamic map by superimposing time-changing information on a road onto a static map based on first data indicative of surrounding information acquired by a first sensor mounted in a roadside unit; computing a first region that is incapable of being observed by the first sensor; receiving a plurality of attribute information items related to respective second sensors mounted in respective vehicles running on the road from the vehicles; selecting a specific second sensor from among the second sensors based on the attribute information items and the first region; receiving specific second data acquired by the specific second sensor among a plurality of pieces of second data acquired by the second sensors; reconfigurating the dynamic map by filling the first region by using the specific second data; and distributing the reconfigurated dynamic map to at least one of the vehicles.