Five single-decker autonomous buses will have the capacity for about 10,000 passenger journeys per week.
The vehicles have sensors enabling them to travel on pre-selected roads at up to 50mph.
They will have two members of staff on board.
A safety driver will sit in the driver’s seat to monitor the technology, and a so-called bus captain will help passengers with boarding, buying tickets and queries.
The UK government said Project CAVForth would be the world’s first full-size, self-driving public bus service.