tangent
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And by train I don't mean steel-on-steel per se, but as Matthew pointed out it needs a dedicated right of way and level boarding. There is nothing wrong with the Paris Metro because it runs on rubber tires - it runs in tunnels and has level boarding. You simply cannot replicate the efficiency of having people come together on foot, have the vehicle pull up in front of them, and they step on. When they get close to where they are going, they step off and complete the trip on foot. That is the most common form of transportation in the world because it works REALLY well.
The core of what I am proposing is merely to replace "steel-on-steel" so that we can run autonomous vehicles in between trains/trolleys/buses. And I agree that level boarding is desirable... which by the way you don't have on the Green Line trolley.
The autonomous part is what allows adaptive navigation and scheduling so that it is no longer a dedicated right of way. So bus/train leaves station and then behind it autonomous vehicles which are approved for such use get automatically routed along that express route in between in some predetermined priority. If the route is running full with mass transit vehicle then so be it and they take priority and no smaller vehicles get to use the route.
It is the best of both worlds you get mass transit if and when you need it, but you get most efficient use of the right of way the rest of the time.