Autonomous public transport (APT) is revolutionizing urban mobility by integrating advanced technologies, including electric autonomous buses and shared autonomous vehicles (SAVs). This paper examines the historical evolution of APT, from early automation efforts in the 1920s to the deployment of autonomous shuttles in contemporary cities. It highlights technological milestones, legislative developments, and shifts in public perception that have influenced the adoption of APT. The research identifies key benefits of APT, including enhanced road safety, reduced greenhouse gas emissions, and improved cost-efficiency in public transport operations. Additionally, the environmental potential of SAVs to reduce traffic congestion and emissions is explored, particularly when integrated with renewable energy sources and sustainable urban planning. However, the study also addresses significant challenges, such as handling emergencies without human intervention, rising cybersecurity threats, and employment displacement in the transportation sector. Social equity concerns are also discussed, especially regarding access and the risk of increasing urban inequality. This paper contributes to the broader discourse on sustainable mobility, transportation innovation, and the future of smart cities by providing a comprehensive analysis of both opportunities and obstacles. Effective policy frameworks and inclusive planning are essential for the successful implementation of APT systems worldwide.