Abstract: In order to solve the problem in which the ‘vehicle scanning method’ is too sensitive to road roughness and vehicle speed in the process of bridge modal parameter identification, a novel vehicle scanning method based on the contact point response is proposed to identify bridge modal parameters, i.e., frequency and mode shape. The contact point response residuals of the two vehicles are calculated considering the phase difference, and the mode frequencies and corresponding mode shapes can be obtained based on the residuals. This paper presents the process of bridge modal parameter identification based on the contact point response residuals of two vehicles. The feasibility of this method is verified by numerical case studies, and the effects of vehicle speed, mass and road surface roughness on the identification results are discussed systematically. The numerical results show that the proposed method is simple and effective, which can accurately identify the modal parameters of bridge structure on the premise of effectively eliminating the influence of road surface roughness.