The area and time-dependent vehicle scheduling problem(ATVSP) is a generalization of the vehicle scheduling problem in which the travel speed between two locations depends on the passing areas and time of day. We propose a simple model for estimating area and time-dependent travel speeds in the ATVSP that relieves much burden for the data collection and storage problems. A mixed integer nonlinear programming formulation of the ATVSP is presented. We also propose three heuristics for the ATVSP, developed by extending and modifying existing heuristics for conventional vehicle scheduling problems. The results of computational experiments demonstrate that the proposed estimation model performs well and the saving method is the best among the three heuristics.