Obviously, I haven't read a 300 page PDF before posting.
But self driving cars don't fundamentally change the traffic problem. And what is needed _today_ in dense urban areas is a fundamental change.
One of the easiest ways to think about this is the impact that cars _necessarily_ have on density. Christopher Alexander explained this simply by thinking about how many square meters of surface different transportation systems take up per person.
Walking is relatively efficient - a person walking only needs perhaps 1 square meter to walk as fast as they like; if they are careful and are going slower, multiple walkers need even less space.
Now consider the personal car. Standing completely still, an automobile needs several meters of ground space. If it is moving in a stream of other vehicles, there must be buffers in front and behind it. It is not unreasonble to think of the ground footprint needed for a moving car as 3 meters of width and 4 meters of length, plus multiples of 4 meters ahead and behind, as speed increases.
So a car - even standing still - takes an order of magnitude more surface space than a human who is walking.
This is the fundamental problem with the individual vehicle. For each person you add, you need 10x that many meters of available surface area to the sub-segments of your road network that that person's automobile will be using.
I very much love the automobile and the driving experience. I do my own vehicle maintenance and i have a dedicated trackday car for when I can get away for a weekend of lapping. I live on a farmstead and there are 6 road legal vehicles parked on my property.
However, cars completely destroy urban density, and it doesn't matter how clean you make them, how self-driving you make them, and, how much safety buffer space you strip away. They simply use space too inefficiently for there to be any meaningful density.
Dense urban areas should have pervasive rail coverage, and that rail coverage should largely be in ugly spaces - like underground, or along the perimeter of industrial districts. On average, someone should be able to get to a subway station after a couple blocks of walking.
In urban areas, the roads as we have them today should largely be repurposed for use by busses for trunk routes that are somehow not well served by rail, and for point to point trips in cabs/ubers/lyfts. Private, single vehicle use of the roadways should be exceptionally expensive, and thus, a rarity undertaken only when financially justifiable by the end user. Electric mini-trucks (as seen in Asia) should be responsible for delivery of larger-than-human cargoes, both personal and business related.
At some point, intermodal containers that are human-scale make sense for moving goods within cities, e.g. imagine a standardized container that was about 1 meter cube; this could be loaded into a special cargo car on most current subway lines, and loading/unloading the containers from that car could be done rapidly and automatically... a half meter intermodal cube could be reasonably carried by a person, through door ways, up stairs, etc, and 8 of them could stack next to or on top of the 1 meter cube...
Many new yorkers already live without cars and take deliveries; bringing efficiencies of scale and uniformity to the delivery system would be a good idea. Democratizing it so that, for instance, at the airport you put your luggage into intermodal cubes (or, depending on where you travelled from, your luggage actually IS intermodal cubes...) and ship them off to your neighborhood, and this is largely done automatically, means that you are not carrying heavy things across a 45 minute subway ride, and you do not feel the need to take a cab ride, and yet you and your things still get to the destination at the same time..
Once cabs and cars are not gridlocking every inch of pavement, some roads should get turned into pedestrian areas; outdoor marketplaces, greenspaces, etc.
For anyone that hasn't had the pleasure of doing so, I really recommend spending some tourist time in the city of Munich. They have an exceptional rail system. You may not have any idea how nice urban life can be.