I understand that a different verb of motion is used for a bus, tram, train than for a car, lorry, van. e.g.автобус ходит, машина ездит
Is this correct and, if so, why? Then, if I get on the bus автобус ходит а я еду. I'm confused.
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Not quite. Автобус едет if all you mean is that it's in motion.
Автобус ходит — as does all other non-airborne public transport, including passenger ships — in relation to its route or destination.
Thus you say,
Из Москвы в Балашиху ходит электричка
— meaning you can get to Balashikha from Moscow by commuter train. But:
Вот едет электричка из Москвы в Балашиху
— of an actual train passing by, or of a hypothetical but specific train.