An apparatus for collecting data for map generation includes a processor configured to determine whether the current state of a vehicle is suitable for collection of collection target data to be used for generating or updating a map, based on suitability data received from the vehicle with a communication device. The suitability data indicates suitability of the vehicle or surroundings thereof for the collection. The processor is also configured to instruct, with the communication device, the vehicle to collect the collection target data when determining that the current state of the vehicle is suitable for the collection.