Considering non-adjustable dynamic performance of a passive suspension system，a simulation model of heavy lorries with a semi-active suspension system based on groundhook control strategy was designed. Road-friendliness of a semi-active suspension system was evaluated based on two typical road damage criterion respectively using Matlab/Simulink package. The results of this study showed that road-friendliness of semi-active suspension systems with groundhook control strategy was improved comparing with that of its counterpart. The influence of non-field damping coefficient on vehicle-road dynamic force was obvious, but its impact on the standard deviation of vehicle-road dynamic force or road-friendliness could be neglected. Increased traveling speed resulted in deteriorated road-friendliness of heavy lorries with a semi-active suspension system based on groundhook control strategy.