Abstract: With the increase of highway transportation and the development of long-span flexible bridges, both the dynamic responses of highway bridges under high-speed and heavy vehicles and the safety control of vehicles have deserved general concerns. Starting with early experimental studies and classical analysis theory, the present primary achievements are summarized roundly according to vehicle analytical model, bridge analytical model, surface roughness of road and numerical method. Finally, some existing problem on vehicle-bridge interaction at present is mentioned and the direction of the further research on vehicle-bridge interaction in the future is pointed out.