A vehicle, wherein the vehicle comprises a first component , a second component , and a vehicle suspension, wherein the vehicle suspension is located between the first component and the second component ; and the first component is a component that the vehicle suspension bears, the second component is configured to bear the vehicle suspension and the first component , and the vehicle suspension comprises a variable damper (D3) connected between the first component and the second component ; and the variable damper (D3) is configured to provide a first force (F1) to the first component to control a displacement (Z 3 ) of the first component relative to the second component in a height direction of the vehicle; wherein the variable damper (D3) is configured to provide the first force to the first component according to the following formula: F ̇ 1 = { ± C a . Z ̈ 3 * − Z ̈ 3 ± C s . Z ̇ 3 ± C 2 . Z ̇ 3 − Z ̇ 4 Z ̇ 3 − Z ̇ 4 . Z ̇ 3 > 0 ± C 1 . Z ̇ 3 − Z ̇ 4 Z ̇ 3 − Z ̇ 4 . Z ̇ 3 ≤ 0 wherein: C a is a first preset control parameter, C s is a second preset control parameter, C 1 is the damping factor of the variable damper in a compressed state, C 2 is the damping factor of the variable damper in a stretched state, Z̈ 3 * is a reference acceleration; Z̈ 3 is the acceleration of the first component in the height direction of the vehicle, Ż 3 is the speed of the first component in the height direction of the vehicle, Ż 4 is the speed of the second component in the height direction of the vehicle, and Ż 3 - Ż 4 represents the relative speed of the first component relative to the second component in the height direction of the vehicle. the variable damper (D3) is configured to provide a first force (F1) to the first component to control a displacement (Z 3 ) of the first component relative to the second component in a height direction of the vehicle; wherein the variable damper (D3) is configured to provide the first force to the first component according to the following formula: F ̇ 1 = { ± C a . Z ̈ 3 * − Z ̈ 3 ± C s . Z ̇ 3 ± C 2 . Z ̇ 3 − Z ̇ 4 Z ̇ 3 − Z ̇ 4 . Z ̇ 3 > 0 ± C 1 . Z ̇ 3 − Z ̇ 4 Z ̇ 3 − Z ̇ 4 . Z ̇ 3 ≤ 0 wherein: C a is a first preset control parameter, C s is a second preset control parameter, C 1 is the damping factor of the variable damper in a compressed state, C 2 is the damping factor of the variable damper in a stretched state, Z̈ 3 * is a reference acceleration; Z̈ 3 is the acceleration of the first component in the height direction of the vehicle, Ż 3 is the speed of the first component in the height direction of the vehicle, Ż 4 is the speed of the second component in the height direction of the vehicle, and Ż 3 - Ż 4 represents the relative speed of the first component relative to the second component in the height direction of the vehicle. C a is a first preset control parameter, C s is a second preset control parameter, C 1 is the damping factor of the variable damper in a compressed state, C 2 is the damping factor of the variable damper in a stretched state, Z̈ 3 * is a reference acceleration; Z̈ 3 is the acceleration of the first component in the height direction of the vehicle, Ż 3 is the speed of the first component in the height direction of the vehicle, Ż 4 is the speed of the second component in the height direction of the vehicle, and Ż 3 - Ż 4 represents the relative speed of the first component relative to the second component in the height direction of the vehicle. <EOS>