> Give the drivers autonomy to judge whether it's safe or not to deviate from the scheduled route.

But they are judging it. And deciding it's not safe. You may not agree but it's their evaluation of their safety. The rules are good for them because they can ensure their safety by obeying the rules.

There is no "decision" being made if your flowchart always says "only stop at designed bus stops". "Judging" something presupposes the ability to override established rules and even reaching different conclusions despite similar precedents.