In view of the inaccuracy of rotor position estimation of switched reluctance motor (SRM) due to the magnetic circuit saturation under the condition of high current, a rotor position estimation method based on the combination of full cycle inductance adjacent intersection and inductance threshold is proposed. This method sets the corresponding phase inductance threshold value in the high inductance area. When the inductance is in the non magnetic circuit saturation, the “and” method is used to obtain the high inductance position estimation pulse between the intersection point pulse and the set phase inductance threshold pulse. When the inductance is in the magnetic circuit saturation, the set inductance threshold pulse is used as the high inductance position estimation pulse, and then the motor speed and rotor position are estimated by the adjacent pulse signals. Finally, the correctness of the method is verified by simulation.