Design a “waste-energy-economy” coupled urban logistics collection and transportation system for two stages of urban waste transportation, take Beijing as an example, select 128 community collection points, 18 transfer stations and 6 power plants for intelligent body (ABM) modeling, solve the vehicle path planning problem of the collection and transportation system based on the autcolony fusion algorithms, and validate the simulation model through the analysis of examples. The simulation model is validated by case analysis. It is concluded that: (1) The carbon emission of using five types of vehicles to collect garage for power generation, including diesel vehicles and gasoline vehicles, in the whole process of urban waste collection and transportation is lower than that of burning standard coal with the same power realizing the conversion of “waste-energy”. (2) The use of 3t electric vehicles in the “collection point—transfer station” stage and 8t gasoline vehicles in the “transfer station—power plant” stage can achieve the optimal cost and carbon emission targets. This is an “energy-economical” value. This scenario is also valid in the case of uncertainty in the urban transportation environment and the amount of waste.