The simulation of the contact relationship between the tire and road surface affects accuracy of the vehicle's suspension response and control.A three-dimensional pavement model is constructed using fractal theory. Based on the three-dimensional road surface model， a three-dimensional dynamic contact relationship between the tire and road surface is established.Aiming at the 1/4 vehicle suspension model， passive suspension， fuzzy PID control and ceiling damping control algorithms are established， respectively. The time and frequency domain responses of the vehicle suspension vertical acceleration， suspension dynamic deflection and tire force， built by employing the passive suspension and the two control algorithms， are compared under two contact conditions. The calculation results show that the fuzzy PID control algorithm is superior to the passive suspension and ceiling damping control algorithms in terms of vehicle ride comfort. When the vehicle takes into account three-dimensional contact between the tire and road， the peak values of body acceleration， suspension deflection， and tire force response under the surface contact conditions are lower than those under the point contact conditions.