
The aforementioned wikipedia entry gave me an epiphany: I completely overlooked that we only have steel rails for historic and outdated reasons.
So you can have long vehicles that drive flawlessly along a predetermined route.
But driving straight on your a road that's kept free for just your vehicle is child's play for modern automated driving systems.
Rail is louder and more bumpy.
Braking is harder, leading to long distances between trains.
Most importantly, vehicles can only drive over the rails which limits where they can pick you up or drop you off.
So the efficiency of a train with the flexibility of a road.
We could even give these lanes electric overhead lines so the electric trucks and busses can recharge while using them.
(Usual disclaimer: don't forget walking and biking in the city.)