PROBLEM TO BE SOLVED: To provide a road surface profile estimation device and the like, which can highly accurately estimate a profile of an arbitrary road surface including ordinary roads, using a general-purpose vehicle.SOLUTION: A road surface profile estimation device 10 comprises: an acquisition unit 11 that acquires acceleration in a vertical direction and an angular velocity about a pitch axis; a first calculation unit 12 that calculates displacement in the vertical direction to calculate angular displacement about the pitch axis; a prediction unit 13 that predicts time evolution of a state variable of a vehicle on the basis of a simulation model; a second calculation unit 14 that calculates acceleration, angular velocity, displacement and angular displacement from the state variable on the basis of an observation model; an update unit 15 that updates the state variable by data identification of the acceleration and angular velocity acquired by the acquisition unit 11, the displacement and angular displacement calculated by the first calculation unit 12, and the acceleration, the angular velocity, displacement and angular displacement calculated by the second calculation unit 14; and an estimation unit 17 that estimates a profile of a road surface on the basis of the state variable.SELECTED DRAWING: Figure 2
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