## 1 Introduction  
With rapid urbanisation, the transportation industry has created multiple benefits for human beings while causing congestions in urban surface transportation systems and serious energy and environmental crises [1, 2]. Improving the energy efficiency of freight vehicles and reducing pollutant emissions are challenging tasks for countries and the automotive industry [3, 4]. Therefore, the electrification of freight vehicles has attracted considerable attention and political support from various countries as a possible way of increasing energy efficiency, controlling carbon emissions, and achieving sustainable development [5, 6, 7, 8]. However, the limited driving range and long charging waiting time are important factors affecting the popularity of electric freight vehicles (EFVs). To address these issues, many studies have been conducted on charging innovations and energy storage technologies including battery storage upgrades [9, 10], energy management optimisation [11, 12], high-power fast charging [13, 14], and driving strategies [15, 16]. To sustainably meet the charging requirements of devices, a significant amount of charging infrastructure, including charging stations, battery swap stations, and wireless charging devices, has been constructed [17, 18, 19]. Although charging stations have the advantage of low construction costs, they often have long charging wait times, and fast-chargingtechnology can significantly reduce battery lifespan [20]. By contrast, battery swap stations offer the benefit of shorter charging times, but they face the challenge of replacing batteries with different designs and models [21]. The adoption of energy supplement methods [22; 23] can effectively address the limitations of devices due to power and environmental issues. Currently, static and dynamic wireless charging systems have been widely applied. [PERSON] et al. [24] improved the sustainability of garbage collection services by using wireless power-transfer technology. The results showed that the proposed system can help reduce the downtime and cost of garbage truck charging and mitigate the environmental impact of traditional collection methods. [PERSON] et al. [25] demonstrated the feasibility of using wireless power transfer technology to charge shuttle buses in enclosed areas. The study showed that wireless power-transfer technology has significant advantages in improving the sustainability and efficiency of transportation services. [PERSON] et al. [26] proposed an efficient charging algorithm for wireless sensor networks aided by unmanned aerial vehicles for wireless power transfer. The proposed algorithm aims to optimise the charging efficiency of the wireless sensor nodes while reducing the energy consumption of the unmanned aerial vehicles. Hence, the rational use of wireless charging technology and connected and automated technologies combined with a wireless charging lane (WCL) [27; 28] can effectively increase the driving range of connected and automated EFVs from the sustainable vehicle operation perspective. Moreover, unlike the static parking charging method, charging during walking can reduce driving anxiety, shorten the waiting time for parking and charging, and increase the popularity of CAEFVs. As important hubs of the urban surface transportation system, signalised intersections play an irreplaceable and comprehensive role in regulating the speed of traffic flow, influencing the efficiency of safe passages, and relieving urban congestions. With the continuous improvement of intelligent driving systems consisting of vehicle-to-vehicle and vehicle-to-infrastructure technologies by installing devices such as the advanced driver-assistance system, advanced emergency braking system, light detection and ranging, and global positioning system, vehicles can acquire more accurate and connected real-time data related to the driver-vehicle environment, thereby enabling alerting, assistance, and intelligent decision-making functions for driving operations [29].