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Horses don't tend to live as long as cars though.
Environmental legislation and an impending price explosion for insurrance alone will drive the nails into the automobile's coffin. How many people will be prepared to spend instead of $2000/year upwards of that per month for insurrance coverage? New auto technology are already having a profound disruptive effect on the insurrance industry and this will intensify when autonomous vehicles start to take over the road..
http://www.iii.org/issue-update/self-driving-cars-and-insurance
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Environmental legislation
You mean things like this..
"The U.S. has said “no” to any binding emission-reduction targets in the closing minutes of COP21" -
Some people will, not most but some and that'll hinder the self driving only roads. You still get people on horses knocking about now and there are more private cars about now than there were ever horse based transportation. I could see new roads being purpose built and bigger ones being adapted but, at least for a good few decades, most roads will remain multi purpose. Plus the difference between driving a horse drawn buggy to driving a car is smaller than that between driving a car and being driven. Some people, probably the twats that are worse at it, prefer to be in control of what's moving them about. I can't wait for the robocar revolution bit I think it'll be something that works more as a mixed system for longer than you reckon, or at least has the ability to so it can cater to people who want to rag their car up to the next red light.
Horses don't tend to live as long as cars though.