This paper proposed a road adaptive semi-active suspension control method, where a trade-off between driving comfort and vehicle stability/road-holding is accomplishable in order to achieve desirable performance results at different road irregularities and velocities by modifying the scheduling variable that is designed by Fuzzy Logic Control. The proposed semi-active controller is founded on the Linear Parameter-Varying framework. Hungarian highway route data has been implemented into the TruckSim simulation environment based on real geographical data having road irregularities in order to compare the proposed adaptive method with a non-adaptive scenario. Simulation results show that all performances have been improved with the proposed method in different road irregularities and velocities.