Yes, I too believe that this is both conceptually and theoretically beautiful, but not practical.
As fast as technology may be moving and as close as twenty years may seem, I just don't see the world in that kind of nirvana. Politically speaking, you're talking about lost jobs and dollars due to efficiency. Exactly who is going to let that happen?
By your theory, the oil barons should practically be out of business because of the influx of electric cars; the unions will be toothless because they won't have active, living members to take care of, or in turn, take care of them; the insurance companies won't be handling automotive departments anymore because there is no way they will be insuring a city full of driverless cars, much less me, who is having my vehicle transport people around the city while I work. There is a reason why insurance costs are so much higher for those individuals who are on the road so much more often, and for those who are responsible for the lives of others at the same time.
And what politician is going to convince the masses to pay for the infrastructure that you are purporting to be necessary? We can't widen roads, but we are going to widen subway tunnels? How many lanes do you honestly think will be required for high speed cars in these tunnels? And then, how many lanes can possibly be made to support these needs?
It's a nice dream. And maybe if we already had such an infrastructure... but we are already so far behind London, New York, and Hong Kong when it comes to public transit. We have to think of the "now" before looking at a future that may or may not exist. Or at the very least, which may not exist to the levels that you have pictured for us here.
And maybe driverless vehicles will be great for those unable to physically drive anymore, but on a simpler note, there will always be people--like myself--who just love to drive. How do you combat that appeal?
Aside from the monetary issues which I brought up earlier, when people in the aforementioned cities of the world are choosing to ride en masse in cars/vans on a limited amount of city roads with traffic lights, stop signs, and 4-way crossings, instead of a relatively free-flowing train line system... then... I will succumb to the age old expression, "I'll believe it when I see it."
Kudos for creating a nice, little pocket of discussion!
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