Hi Duc,
The goal will be to get a properly expose shot of the trucks. There are a few ways:
a. Shooting technique
Not sure what is your position in relation to the trucks. Are you shooting the side of the trucks or are you shooting them headon? If shooting on the side of the trucks, you might wish to use the panning method i.e. you follow the truck with your camera while shooting. You would have to use continuous shooting here. You can read more of the technique here:
http://www.howcast.com/videos/192889-How-To-Shoot-Great-Panning-Shots
b. Working with shutter priority.
Check your manual on how to set your cam to shutter priority where you can set the shutter speed and the cam decides on the aperture to get proper exposure. If you find that the images are still too dark or there is not sufficient depth of field to provide good focus, you might want to increase the ISO.
Hope this helps.
Matthew