The invention discloses a comprehensive compensation strategy construction method for a constant error of a vehicle acceleration sensor. The comprehensive compensation strategy construction method comprises the steps: firstly building a dynamic expression related to the lateral and yawing movement of a vehicle, and achieving the observation of the lateral speed of the vehicle; secondly, determining the state quantity and quantity measurement of an estimator according to the acceleration sensor error drift model and the transverse and longitudinal kinematics relationship of the vehicle, and estimating the constant error of the acceleration sensor by using a Kalman filter; and finally, compensating and updating the constant error of the acceleration sensor by correcting the tire positive pressure model and the tire cornering stiffness and feeding back the input information of the vehicle lateral velocity observer. The comprehensive compensation strategy construction method can realize estimation and iterative updating of the constant error of the vehicle acceleration sensor at a relatively high frequency, does not excessively lose the real-time performance while improving the overallprecision of vehicle motion state estimation, and has has the characteristics of simplicity and high efficiency.