This study introduced a road adaptive semi-active suspension control method, where a trade-off between vehicle stability and driving comfort is accomplishable in order to achieve desirable performance results at different road irregularities and velocities by modifiying the scheduling variable that is designed by Fuzzy Logic Control. The introduced semi-active controller is founded on the Linear Parameter-Varying framework. Hungarian highway route data has been implemented to the TruckSim 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 driving comfort, vehicle stability, and roadholding performances have been improved with the proposed method.