Method for landmark-based localisation of a vehicle

A method for landmark-based localization of a vehicle involves forming a plurality of position hypotheses for a vehicle position based on a forming of associations between sensor landmark objects detected by sensor and map landmark objects stored in a digital map. A most likely vehicle position is ascertained as the localization result on the basis of a probabilistic filtering of the position hypotheses, and a guaranteed position area is ascertained, in which a predefined error upper limit is not exceeded. This is performed several times with different set-ups of the probabilistic filtering. The localization result with the smallest guaranteed position area is selected as vehicle position if the guaranteed position areas overlap fully in pairs.