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To solve the problem of active suspension control effect reduction in trucks due to the change of vehicle mass after loading, this paper designs an active suspension hybrid controller for trucks with online estimation of vehicle mass. A multi-degree-of-freedom coupling dynamics model of the vehicle integrated with mass estimator is established, the online estimation of the vehicle mass is estimated in real time based on the recursive least squares method with forgetting factor, the mass estimation is integrated with the Linear Quadratic Regulator(LQR) of active suspension control, and the system is validated by simulation under the real-time change of mass. The results show that the active suspension hybrid controller integrated with the online estimation of the vehicle mass has a better control effect, can adapt to the real-time change of the mass of the truck and ensure the effectiveness of the control system.