Did you check the XPATH tutorials?
I think this one does the trick. Retrieve Cargo with constraint (note that Module needs to be substituted with your module name, but using the autocompletion this should be trival):
[Module.Cargo_ContainerType/Module.ContainerType/Module.Ride_ContainerType/Module.Ride/DateArrival = DatePickup]
Note that your second AND clause is implicit; the Arrival date and Pickup date are not comparable in your domain model (in a single query) if there is no relation at all.
Furthermore make sure that you use the trimToDays function when storing the arrival/ pickup date, otherwise the dates will not be seen as equal if they do not happen at exactly the same millisecond.
I think I wasn't clear about the fact that the Ride is used as an input. I figured it out, turns out to be quite simple: