If you are willing to share the ride, you can have the same car serve you and someone else who shares a similar route and is willing to travel 10 minutes early (or late - can be incentivize by a discount).
Self-driving cars can make car-pooling easier - it can be a hyperlocal public transport system. Pick up 4 people who are traveling from/to within a 2-mile radius with each other, and peak traffic will be 25% of what it is now (best case). It's even simpler considering that most people commute the same route everyday.