What we really need to do is encourage self driving cars as being a form of shared transit, not something that people sleep in, with massive taxes on usage not involving high occupancy.

Self driving vehicles allow ride-sharing to be far more effective as you won't have to pay for the cost of the driver. Right now bus routes are studied, and are used less often than they could be due to the last mile problem, and should we grow the scale of HOV lanes, ride sharing will be further encouraged. We could take a fleet of minibuses and focus on the real time optimization problem, rather than making car travel more luxurious but also make congestion far worse.