This paper extends previous research by developing future scenarios for self-driving vehicles and their societal impacts in freight transport using Sweden as a case study. Freight experts from vehicle manufacturers, agencies, universities and hauliers were recruited for a workshop where they assessed the benefits, costs, possibilities and barriers for self-driving vehicles in freight transport. The paper shows that reduction in driver and vehicle costs, reduced number of incidents and more fuel-efficient driving are seen as the main benefits of self-driving vehicles in freight transport, and increased vehicle costs, lost jobs, reduced degree of filling and more transport as the main costs. Furthermore, reduced drivers’ costs, more hours-of-service and new business models are identified as the main drivers of the development and traffic management, small hauliers, loading and unloading and cross-border transport as the main barriers. The paper also integrates the description of possible developments of self-driving vehicles in freight transport into the four future scenarios developed for passenger transport in Sweden.