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In this study, a procedure for constructing pavement roughness in a three-dimensional bridge subjected to a vehicle using Abaqus is proposed for numerical simulation of vehicle–bridge interaction problems. As the plug-in RufGen, a graphical user interface in Abaqus/CAE for surface interaction, creates a hexahedron with a rough surface and attaches it to the bridge deck, the resulting weight of a bridge model can be much larger than the original one. In the vehicle scanning method, it is essential to keep a finite element bridge model with an unchanged weight after imposing a rough surface on it in consideration of the roughness effect for bridge health monitoring. As such, the proposed procedure is aimed at resolving this issue, with the following two highlights: First, the Toeplitz matrix is introduced to generate a rough surface in three dimensions to ensure the randomness of roughness in the two perpendicular directions under a given roughness profile. Second, a shell-type rough pavement is established for directly using as the bridge pavement or attaching to the bridge deck, which minimizes weight increment in the bridge.