> To have the city planning work correctly you kind of need participation from the cars
Perhaps for the optimum solution, but you can get a _lot_ better (than things are at the moment) without that. There are plenty of cities that use sensors and cameras to adjust traffic light timing throughout the day, and have done for some time (In the 90s I studied the system used in Sydney, which had already been in existence for some time then). But these things cost money.
Also, you don't need driverless cars for destination data - anyone using Google/Apple Maps/Waze, or even any recent car's inbuilt nav system can provide this.
And I reckon that even with the optimal solution in this regard, you'll still end up with traffic jams, as individual cars take a lot of space. Start thinking in terms of mass transit, cycling, and city planning to allow walking to the shops.