Rambozo is right on. Most of the books you'll find on this subject are in "textbook" form, so don't expect easy reading on it, but SAE books are a great source to go learn. Once you get past chassis design, if you read "Racecar Vehicle Dynamics", it is extremely detailed in all aspects of designing and setting up the suspension. If you can understand a decent chassis textbook and the vehicle dynamics book, you can do basic designs of almost any type of vehicle.