Road surface height real-time estimation method in vehicle driving process

The invention discloses a road surface height real-time estimation method in a vehicle driving process. The method comprises the following steps of: 1, establishing a quarter suspension model considering a suspension geometric structure; 2, converting a road surface height estimation problem into an unknown input reconstruction problem; 3, establishing an estimation model considering the nonlinearcharacteristics of a suspension damper; 4, designing a state observer to estimate a system state; 5, calculating an observer error equation; 6, designing an observer gain matrix to ensure the stability of the observer error equation; and 7, estimating the road surface height through unknown input reconstruction. The influence of the suspension geometric structure and the nonlinear characteristicof the damper are considered, a linear variable parameter model of the suspension system is established, a sliding mode observer is designed, and real-time estimation of the road surface height underdifferent road surface cond