The present invention provides an unmanned drayage truck alignment method, apparatus, and device, and a readable storage medium. The unmanned drayage truck alignment method comprises: on the basis of positioning information of a target position, controlling an unmanned drayage truck to perform alignment; acquiring alignment information of the unmanned drayage truck; on the basis of the alignment information of the unmanned drayage truck, determining whether the unmanned drayage truck is successfully aligned; if yes, outputting prompt information to prompt port machinery equipment to carry out container loading/unloading operation; and if not, adjusting the position of the unmanned drayage truck on the basis of the alignment information, and returning to the step of acquiring alignment information of the unmanned drayage truck. The present invention can solve the problems of low efficiency and potential safety hazards of manual alignment and parking of manned drayage trucks under port machinery equipment, and on the basis, ensures the alignment accuracy and the safety reliability of unmanned drayage trucks, thereby making the overall interaction operation between unmanned drayage trucks and port machinery equipment safer and more efficient.