I say "could" instead of "will" because all this is more a question of cultural development than a technological/economic one. If individual car usage does not go out of fashion, robotic driving will only continue the trend towards ever bigger commuter castles.
What does that mean? Like someone from the victorian age? I think they are all dead.
Also with more people using it, the less meandering it does. If everyone uses the "uberpool" system, it will probably pick up everyone in about 5 minutes in a 2 block radius and drop you off at one spot 1 block from your work. The more dense it is, the more efficient it gets.
And if 1 occupant per 2-ton-vehicle becomes the norm, dense cities will implement congestion pricing or surtaxes to force multiple occupancy or public transport usage - if 1 million driverless taxis try to deliver people into the square mile of the City of London, everyone will have a bad time. (Ditto for Manhattan, SF, downtown Boston, Hong Kong Midtown etc.)