Embodiments of the present disclosure provide a method and a device for acquiring a map, a device, and a computer readable storage medium. The method includes: acquiring a reference map of an acquisition area; dividing the acquisition area into a plurality of sub-areas based on the reference map; generating a plurality of acquisition tasks corresponding to the plurality of sub-areas, wherein each of the plurality of acquisition tasks is configured to acquire a map of each of the plurality of sub-areas; and assigning each of the plurality of acquisition tasks to an acquisition entity, to enable the acquisition entity to acquire the map of each of the plurality of sub-areas.