Bridge　inspections　performed　by　the　response　of　the　moving　vehicle　have　been　widely　studied　because　of　its　mobility　and　efficiency,　whereas　mode　shapes　extracted　by　the　moving　vehicle　have　low　order　and　limited　accuracy　in　existing　studies.　In　this　study,　experimental　studies　are　conducted　in　which　a　stationary　shaker　is　used　to　excite　the　steady-state-forced　vibration　of　the　bridge,　and　the　bridge　vibration　is　collected　by　an　accelerometer　installed　on　a　moving　vehicle.　Accurate　multiorder　mode　shapes　are　obtained　by　extracting　the　vehicle　acceleration　envelope.　First,　a　theoretical　derivation　of　the　method　is　provided,　and　an　extraction　process　for　field　tests　is　proposed.　Then,　a　model　test　of　a　three-span　continuous　beam　bridge　and　a　field　test　of　a　two-span　continuous　girder　bridge　are　conducted.　To　verify　the　accuracy　of　the　mode　shapes　extracted　by　the　moving　vehicle,　reference　data　are　obtained　by　finite-element　modal　analysis　and　by　using　the　hammer　test.　Through　a　difference　analysis　of　accelerations　between　the　parked　vehicle　and　the　bridge　deck　under　the　test　vehicle,　the　ability　of　the　designed　test　vehicle　to　collect　bridge　vibration　in　different　frequency　bands　is　evaluated.　Finally,　the　first　five　mode　shapes　of　the　bridge　model　and　the　first　six　mode　shapes　of　the　field　bridge　are　extracted　by　a　moving　test　vehicle,　and　the　effects　of　vehicle　speed　and　excitation　amplitude　on　mode　shape　extraction　are　analyzed.　The　results　show　that　multiorder　mode　shapes　can　be　accurately　extracted　by　a　moving　test　vehicle.