Most vibration-based damage identification methods make use of measurements directly from bridge structures with attached sensors. However, the vehicle moving on the bridge can serve as both an active actuator and a response receiver. The present study is aimed to develop new methodologies to eventually detect bridge damages such as scour using the dynamic response of the vehicle. To reach the final objective, a new methodology using the transmissibility of vehicle and bridge responses was developed to detect bridge damages. The transmissibility of a simplified vehicle-bridge coupled (VBC) system was analyzed theoretically and numerically to study the feasibility of this method. Then, a tractor-trailer test system was designed to obtain reliable responses and extract bridge modal properties from the dynamic response of moving vehicles. The test vehicle consists of a tractor and two following trailers. The residual responses of the two trailers were used, which successfully eliminated the roughness and vehicle driving effect and extracted the bridge modal properties.Meanwhile, the developed methodologies were applied to detect scour damage from the response of bridgeand/or vehicles.