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I'd say the big barrier to more cars is cost, not being unable to drive (particularly in big cities).
Think of how much an average car is used in relation to it's value ie £/hour.
Now think about the changes in how we own and use things nowadays.
Driverless cars would go hand in hand with an Spotify-Uber-style system. If cars were utilized to even 50% of their ability then the cost would plummet to an almost meaningless level.
There isn't a scenario for which self-driving cars are the answer. All it will result in is there being even more cars on the road, because now the one barrier to being able to drive one will be removed. It's an agenda being driven by those who stand to profit from them.