This study investigates the identification method of bridge modal frequencies from contact responses of a single degree-of-freedom vehicle. To begin with, a test vehicle and a bridge are modeled as a single degree-of-freedom (DOF) vehicle model and a three-dimensional beam model respectively. Subsequently, close-form solutions for bridge displacements and contact responses are derived based on integral transform. And then, a vehicle-bridge interaction model is established by the finite element method to verify the close-form solutions. Remarkab...