There will still be traffic lights, bottlenecks, and for the foreseeable future there will still be conventional cars.
Driverless cars will still be limited by physics (their size and how fast they can accelerate). If car routing algorithms deliberately route cars to places where the traffic is slow (because they can loiter, saving on parking while using little power) then the traffic jams will be worse.
If we rebuilt the road system specifically for driverless cars maybe we could eliminate traffic jams. Otherwise...