Abstract: This paper proposed a Gain Scheduling (GS) adaptive control approach for designing vehicle suspension. The linear optimal control theory was applied in designing of controller， and the control gains can be changed to adapt the changes in road input conditions. Two main issues were investigated: a) the identification time for road input condition; b) the selection of reference signal on which the control gain are tuned. The simualtion results showed that so long as the the range of road input can be well anticipated, the GS control can be a feasible approach and improve vehicle performance significantly.