To evaluate the suspension kinematics characteristics,by using roll center model and pitch center model,the unified formula between suspension deformation and acceleration were established,and by using g-g map,the suspension characteristics with longitudinal and lateral acceleration acting on vehicle were expressed.The toe angle,camber,as well as kingpin trailers were proposed to describe the suspension that affects vehicle dynamics.The suspension kinematics characteristics can be evaluated by g-g method not only from suspension view,but from whole car view.At last,by the suspension K & C data of an A-class car,the suspension kinematics in 3D field map was calculated by this method.