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The tire-road contact mechanics is the key problem in vehicle ride comfort and road-friendliness research. A flexible roller contact (FRC) tire model with the enveloping property is introduced to reflect the contact history between the tire and the road. Based on D’Alembert principle, an integral balanced suspension (IBS) model is established, considering mass and moment of€ inertia of€ the stabilizer rod. €The sprung mass accelera- tion and tire dynamic force for balanced suspension and the traditional quarter-vehicle model are compared respectively for frequency and time domain responses. It is concluded that the quarter-vehicle model can be used to evaluate the ride comfort of vehicles; however, it has some limitations in evaluating the vehicle road-friendliness. Then, the dynamics performances for IBS model are analyzed with the single point contact (SPC) model and FRC model, respectively. These works are expected to propose a new idea for the vehicle-road interaction research.