A dynamic simulation model of seven DOF full vehicle has been established by using MATLAB software. By adopting the dual mode fuzzy controller as the semi-active suspension, the velocity of rigid body and suspension joints, as well as the input quantity, with the dynamic displacement and pitch angle parameters being the active suspension control, are to be worked out. The front left and right wheels are to take the error between the speed of the connection linking the suspension and the body and the expected value, as well as its rate of change, as the input quantity of the first control force, and to take the error between the angular velocity of the rigid body and the expected value, as well as its rate of change, as the input quantity of the second control force. The rear left and right wheels are to take the error between the speed of the connection linking the suspension and the body and the expected value, as well as its rate of change, as the input quantity of the first control force, and to take the error between the suspension working space and the expected value, as well as its rate of change, as the input quantity of the second control force. The numerical results of the simulation show that the adoption of the dual fuzzy controller helps to greatly improve the ride comfort and stability in vehicle driving, with a better performance exhibited in the comprehensive system, and with a significant increase as high as 27.2% in the rigid body vertical acceleration, 19.6% in the pitch angular acceleration, 95.5% in the dynamic travel performance of the front suspension, and 33.8% in the dynamic travel performance of the rear suspension, respectively.