The paper presents the method of kinematic road excitation reconstruction based on measured suspension dynamic responses and its reconstruction with use of estimated displacements of unsprung mass as a preliminary approximation of kinematic excitation and tracking control system with a PID controller that allows for faithful reconstruction of unsprung mass accelerations and, in turn, kinematic excitations. The authors performed an experimental verification of the method with use of one axle trailer and measurements of road profile and acquiring signals of suspension dynamics  responses.  The signal processing methodology and obtained results are presented for random and determined excitations. The necessary requirements to use the method effectively were defined and its limitations were listed.