Estimation method for vehicle state and road surface unevenness

The invention discloses a method for estimating a vehicle state and road surface unevenness. The method comprises the following steps: acquiring a vertical acceleration, a roll angle speed, a pitch angle speed and four suspension dynamic deflections of a vehicle mass center in real time through a sensor; the mass center vertical displacement, the roll angle and the pitch angle of the automobile are obtained based on the mass center vertical acceleration, the roll angle speed and the pitch angle speed; and inputting the data into a proposed vehicle state and road surface unevenness estimation algorithm to obtain an estimated state variable of the vehicle and road surface unevenness information of four wheels. Estimation of vehicle state variables and road surface unevenness can be achieved at the same time only through common sensors such as a displacement sensor, and the cost of hardware equipment is low; the method can be used for state estimation and road surface unevenness estimation of a semi-active suspe