I think it's going to be far worse than that. The economics of self driving cars are so biased toward taxi-like usage that the city streets won't just be filled with cars taking up a lot of space. They'll be filled with cars moving at a glacial pace because the streets are all gridlocked by pickups and dropoffs. Every street will look like an airport or elementary school pickup/dropoff zone.

And even where there aren't commuting clusters, the fact is that cars will actually obey the laws, meaning pedestrians will finally be free to cross at unmarked intersections, and cyclists will be able to share the lanes with cars.