Method and device for estimating vehicle state information and road surface information

The invention provides a vehicle state information and road surface information estimation method and device. The method comprises the steps that vehicle sensor information, vehicle motion state parameters, road surface characteristic parameters and vehicle hardware state parameters are acquired; according to the vehicle motion state parameters, the road surface characteristic parameters and the vehicle hardware state parameters, calculating a target probability matrix and mechanical characteristic constraints under the current working condition; based on the target probability matrix, carrying out fusion calculation on the vehicle sensor information to obtain a vehicle state information estimation value and a road surface information estimation value; and based on the mechanical characteristic constraint, performing constraint filtering processing on the vehicle state information estimation value and the road surface information estimation value to obtain current vehicle state information and current road su