Continue to develop the dedicated bus lanes. Once one is complete convert the busses that access those lanes to driverless vehicles controlled partially by a central computer. Then sell tolls to owners of driverless cars that allow the buyer access to these lanes as well. By doing so, they submit their car to be partially controlled by the central hub as well, at least while it occupies the dedicated lane. As time goes on this could evolve as the driverless technologies evolves allowing for extremely efficient transportation. Maybe the city could invest in a number of these driverless cars to fill in the void and rent them similar to an Uber.