Join Two Tables and filter records in SQL Server

I have Two Table

A

id.    shipment.  vehicle_name.  vehicle_id.      begin. 123  11111        B9373VO          10884919       2017-05-19 11:00

B

vehicle_id.  date.                           type.    description.  geofence 10884919  2017-05-19 11:30:00.000 31        EXIT           Aps 10884919  2017-05-19 12:00:00.000 30        ENTER         Uli 10884919  2017-05-19 11:00:00.000 13        STOP          IDLING

how to create view with join table with add field

origin = type = 31 and destination = type 30 based from date table A