Yes, I took the Bayonne Bridge. From Long Island I took the LIE to the BQE to the Verazano Br. ( Rte. 287) to Rte. 440 to Bayonne Bridge. I stayed on 440 - only a few lights - all the way to Port Terminal Blvd. There are signs on 440 directing you to the cruise terminal. It was really very easy.
Have a great cruise!