The new system could help reduce traffic congestion
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The idea of a congestion charge in the city of Derby has been defended by Derby City Council transport bosses.
The Conservatives said the charge would hit trade. But Labour's Chris Wynn said traffic congestion must be tackled.
Planners said it would help cut traffic problems by encouraging people away from cars and on to public transport.
A new high-tech driverless train system is also being considered. But it will only receive government funding if a congestion charge is brought in.
"It's time that we had a sensible debate and learnt what the people of the city felt about our options," he said.
"Certainly if we bury our heads in the sand, we'll be overtaken with gridlock and our arterial routes and our dense residential areas would just fail."
Viewing prototype
But Conservative cabinet member for enforcement councillor Pauline Latham said Derby's congestion problem was only temporary due to roadworks.
She said a congestion charge would damage trade in the city.
"None of us want to queue in traffic, obviously," she said.
"But if we put on a congestion charge what we'll find is that businesses will move elsewhere - which will resolve in killing trade in city centre shops."
City councillors are travelling to Cardiff next week to examine a prototype system similar to a monorail but runs on four wheels.
It would operate like a small, driverless taxi-cab on an elevated track, with passengers pushing a button for their destination.
If introduced, it would cost £5m a kilometre to build.