A finite frequency domain static output-feedback (SOF) control algorithm for vehicle active suspension systems was proposed based on heuristic two-stage method.To better investigate suspension dynamic behaviors, a typical quarter-car active suspension model was established for control analysis and design.Considering that human body is much more sensitive to vertical vibrations of 4~8 Hz, a finite frequency domain performance criterion was presented as the guidance for control design.Meanwhile, other mechanical constraints such as suspension travel and tire dynamic deflection were also considered to guarantee the dynamic stability of suspension systems.Given that a full knowledge of states was not available online, a new finite frequency domain SOF control algorithm was proposed based on a heuristic two-stage method.Numerical simulations and experimental results show that the proposed approach is more effective to improve suspension performances compared with the traditional entire frequency domain output-feedback method.