Provided is a road surface profile estimating device capable of accurately estimating a profile of any road surface, including ordinary roads, using a general purpose vehicle. A road surface profile estimating device 10 is provided with: an acquiring unit 11 which acquires an acceleration in a vertical direction and an angular velocity relating to a pitch axis; a first calculating unit 12 which calculates a displacement in the vertical direction, and calculates an angular displacement relating to the pitch axis; a predicting unit 13 which predicts time evolution of a state variable of a vehicle on the basis of a simulation model; a second calculating unit 14 which calculates, from the state variable, the acceleration, angular velocity, displacement, and angular displacement on the basis of an observation model; an updating unit 15 which updates the state variable by means of data assimilation between the acceleration and angular velocity acquired by the acquiring unit 11, the displacement and angular displacement calculated by the first calculating unit 12, and the acceleration, angular velocity, displacement and angular displacement calculated by the second calculating unit 14; and an estimating unit 17 which estimates the road surface profile on the basis of the state variable.
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