Field-programmable gate arrays (FPGAs) have recently evolved as a valuable component of the heterogeneous computing. The register transfer level (RTL) design flows demand the designers to be experienced in hardware, resulting in a possible failure of time-to-market. High-level synthesis (HLS) permits designers to work at a higher level of abstraction through synthesizing high-level language programs to RTL descriptions. This provides a promising approach to solve these problems. However, the performance of HLS tools still has limitations. For example, designers remain exposed to various aspects of hardware design, development cycles are still time consuming, and the quality of results (QoR) of HLS tools is far behind that of RTL flows. In this paper, we survey the literature published since 2014 focusing on the performance optimization of HLS tools. Compared with previous work, we extend the scope of the performance of HLS tools, and present a set of three-level evaluation criteria, covering from ease of use of the HLS tools to promotion on specific metrics of QoR. We also propose performance evaluation equations for describing the relation between the performance optimization and the QoR. We find that it needs more efforts on the ease of use for efficient HLS tools. We suggest that it is better to draw an analogy between the HLS development process and the embedded system design process, and to provide more elastic HLS methodology which integrates FPGAs virtual machines.