The road condition is complex and variable during driving; hence, the suspension system cannot easily suppress the vertical vibration of the vehicle. To effectively improve the vehicle dynamic performance under different road conditions, this study proposes a switching control strategy for the semi-active suspension based on the road profile estimation. First, the mapping relationship between different driving conditions and requirements of vehicle dynamic performances is studied. Then, a switching controller with multiple sub-controllers is designed on the basis of the modified skyhook control. The optimal control gains are obtained by adopting the cuckoo search algorithm. In addition, to realise the automatic switching of the controller under different road conditions, an online road profile estimation method, including road disturbance estimation and road roughness classification, is developed. Bench test results show that the proposed control algorithm has an obvious effect on improving the vehicle ride comfort and handling performance, which verifies the effectiveness of the road estimation results and the superiority of the switching control strategy.

行驶过程中路况复杂多变；因此，悬架系统不能轻易地抑制车辆的垂直振动。为有效提高车辆在不同路况下的动态性能，本研究提出了一种基于路况估计的半主动悬架切换控制策略。首先，研究了不同驾驶条件与车辆动态性能要求之间的映射关系。然后，在改进的天棚控制的基础上，设计了具有多个子控制器的开关控制器。采用布谷鸟搜索算法获得最优控制增益。另外，为实现控制器在不同路况下的自动切换，一种在线路况估计方法，包括道路扰动估计和道路粗糙度分类。台架试验结果表明，所提出的控制算法对提高车辆平顺性和操控性能有明显的效果，验证了道路估计结果的有效性和切换控制策略的优越性。