“…Traditionally, Automated Guided Vehicles (AGV) have been widely deployed in many large container terminals worldwide due to their advantages in increased safety, productivity and significant labor cost savings [4], and even more environmental benefits if they use eco-friendly technology such as battery energy driven [5,6]. On the other hand, driving automation technology becomes more mature and attractive [7] evidenced by a number of literatures for its contribution in transport safety [8,9], driving experience [10], traffic efficiency [11], and economic achievement [12]. The electricity-powered driverless trucks (DET), when comparing with traditional AGV, are able maintain similar advantages but with far less initial capital requirement and there is no need to bury transponders (also known as magnetic nails) underneath road surface in advance [13].…”