As the main excitation source of vehicle driving, road profile directly affects the safety and comfort of the vehicle driving. The precise recognition of road profile is very important for the design of the suspension system. In this paper, a novel road profile estimation method for multi-axle vehicles considering vertical load variation is proposed. Firstly, the transfer function from the unsprung mass acceleration to the road excitation is established based on the 1/4 semi-active suspension model, and the road profile estimator is designed accordingly. Then, in order to eliminate the baseline drift caused by noise and other factors, the least square method combined with EEMD (Ensemble Empirical Mode Decomposition) method is used for real-time baseline correction to ensure the correctness of road estimation. In addition, considering the vertical load variation of multi-axle vehicles, an online sprung mass estimator based on dynamic formula has been established to update the road profile estimation system to improve the accuracy of road estimation. Finally, the simulation results show that the R (correlation coefficient) can be increased by 2.63% and the RMSE (Root Mean Square Error) can be reduced by 7.12%. These results indicate the effectiveness and pertinence of the proposed methods.
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