This paper proposes a method for the reconstruction of the vertical road profile from embedded sensors in a car. The study details the specifications in the time domain to ensure a good tracking of the road variation. To meet these specifications, a frequency domain approach is carried out using a model-based design method with a closed-loop structure and a loop shaping technique. The frequency and time responses of the reconstructor obtained in simulation are presented to illustrate the performances. Note that the road profile used in simulation comes from a test bench recording. Similarly, the measurement of noises used in the simulation recorded from on-board sensors used to control the piloted suspension of a DS7 Crossback.