Passive suspensions with fixed design constants are very restrictive in the inherent suspension problem, the trade-off between the ride quality and the suspension travel. Active suspensions are used to solve some drawbacks of passive suspensions. In this paper, we propose a controller design for vehicle active suspensions considering variable driving conditions. Our controller estimates the current driving conditions by detecting the road frequencies gotten from Fourier Transform and decides which factor must be emphasized between the ride quality and the suspension travel. In one case of focusing on the ride quality, we use the skyhook control law and in the other case of focusing on the suspension travel, the double skyhook control law is used. The control law modified by various road situations outputs the reference force value the electro-hydraulic actuator in active suspension system must generate. To track the reference force, we adopt the sliding control law which is very useful in controlling the nonlinear system like the electro-hydraulic actuator.