anfahren
to start moving
To start driving or moving from a standstill with a vehicle (e.g., car, train).
Der Bus fuhr an der Haltestelle langsam an.
The bus slowly started moving at the stop.

to start moving / approach
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to start moving
To start driving or moving from a standstill with a vehicle (e.g., car, train).
Der Bus fuhr an der Haltestelle langsam an.
The bus slowly started moving at the stop.

'Anfahren' is a separable verb. The prefix 'an-' comes at the end in a main clause. In subordinate clauses and in the infinitive with 'zu', the verb stays together.
Der Zug fährt pünktlich um 8:05 Uhr an.
The train starts moving on time at 8:05.
The auxiliary verb in the perfect tense depends on the meaning. For 'losfahren' (to start moving/driving), which indicates movement, 'sein' is used. For all other meanings (to head for, to shout at, to collide with), 'haben' is used.
Der LKW ist langsam angefahren.
The truck started moving slowly.
The object helps you recognize the meaning. Without an object, it means 'losfahren' (to start moving). With a place as the object, it means 'ansteuern' (to head for). With a person as the object, it can mean 'anschreien' (to shout at) or 'anstoßen' (to hit/collide with), which the context clarifies.
Wir haben auf unserer Reise mehrere kleine Städte angefahren.
We drove to several small towns on our trip.
In the meaning of 'to hit someone/something with a vehicle', the passive is often used, especially in news reports or accident reports. The person or thing that was hit then becomes the subject.
Ein Fußgänger wurde an der Kreuzung von einem Auto angefahren.
A pedestrian was hit by a car at the intersection.
to stop / continue
'anhalten' and 'anfahren' form a clear opposite pair with vehicles. 'anhalten' means that a vehicle slows down and stops. 'anfahren' means that a vehicle starts moving from a standstill. So both words fit the same traffic situation, but at different moments: first a car stops, later it starts moving again.

Als die Ampel grün wurde, fuhr das Auto langsam an.
When the traffic light turned green, the car slowly started moving.
Vor dem Zebrastreifen muss der Bus anhalten.
The bus has to stop before the crosswalk.