This research presents a model for urban pickup/delivery truck traffic using dynamic traffic simulation with optimal vehicle routing and scheduling. This model describes the behavior of urban pickup/delivery trucks for determining the optimal delivery route and the departure time from a depot and estimates its effects on the traffic condition of road network. The model was successfully applied to a test network. The results showed that the advanced routing and scheduling system or cooperative freight transportation system can reduce the total costs for freight carriers and also contributes to reduce the total travel time. This leads to alleviate the traffic congestion on road network and improve the environment.