First, there are people who simply will not trust the driverless cars. I was talking to a friend yesterday who said that he wouldn't ride in a driverless car, and he wouldn't want to drive on the same road as one. Uptake is not going to be as fast as people seem to expect once the cars are practical for market.
And second, in the words of Jarrett Walker [1]: "Technology never changes facts of geometry." No matter how small you can make the engines, airbags, and frame, as long as you have each passenger in a separate, self-propelled, hopefully crash-proof shell, they are always going to take up far more space than a bus or a train, and require far more resources to construct.
[1] http://www.humantransit.org/2012/08/bus-stigma-and-driverles...