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Smaller (6 passenger) buses running autonomously. We're not there yet with the autonomy, but there's no reason to stick with one size of bus. Sure, keep big ones on major routes, but use smaller ones for small routes. Heck, make those routes on-demand.
I'd say more like 15 passenger and security could be a bigger issue, but I completely agree with this.
Same general concept to replace large trains in metro systems. You just go to the nearest station and a single train car pulls up to pick you up and then takes you to any station in the system, with stops only when other passengers are getting off.
More of a tram or trolley? Simple automated things you might find at larger airports or some theme parks?
Yes something like that, but not simple. Something that has dynamic centralized routing to efficiently get users between any two stations, picking up and dropping off as it goes
That's called a 'jitney.'
They can follow a regular route, or make detours for door to door service.
Much better with an actual driver to provide safety and assist the low mobility passengers
Yeah, ride hailing bus services should be more popular
That's just a taxi.
A taxi has a very expensive component - the driver. And a taxi doesn't pick up strangers on the way to your destination.