SELF LOCALIZATION METHOD, CONTROL APPARATUS, AND NON-TRANSITORY COMPUTER READABLE RECORDING MEDIUM

A self-localization method according to the present disclosure includes the following first to fourth steps. The first step is acquiring terrain data in which a position and an elevation of a ground surface on a traveling area of the vehicle are managed. The second step is acquiring time series data of acceleration in a vertical direction of the vehicle. The third step is estimating an altitude of the vehicle based on an initial altitude of the vehicle and the time series data of acceleration. The fourth step is estimating a vehicle position based on the position of the ground surface at which the elevation of the ground surface approximates the estimated altitude of the vehicle.