The container vehicle-truss bridge coupled vibration has great effect on the structural safety and handling efficiency in automated container terminal (ACT). To solve this problem,based on free-interface component mode synthesis (CMS) method, the coupled vibration time-domain response, inspired by self-excitation including track irregularity and hunting movement, is solved for the vehicle-truss bridge system. Stochastic simulation of the track irregularity time-history is generated by the Shinozuka′s numerical simulation method of multidimensional homogeneous process. Thereafter, structural dynamic model similarity principle is achieved with dimensional analysis to design a miniature model test. Then the influence of Lead Rubber Bearing (LRB) and vehicle speed on coupled vibration response is obtained. The results of model test and prototype simulation prove with each other, which validate the technique of applying free-interface CMS to solve vehicle-bridge coupled vibration problem, also verifies LRB′s effects on vibration isolation. It shows that the acceleration response increase as the vehicle speed increases. The lateral resonant critical speed of the system is lower than that of the vertical. Resonant critical speed can be estimated by the resonance condition of the simply supported beam under bridge-moving concentrated force.