I don't think he is arguing against self driving, it's an argument against pooled vehicles
All of the things like reduced travel time, less safety features, less parts etc will drive down the capital and operating cost of cars. This will incentivize ownership.
Car2go and Cabs are the same model will a little more convenience yet car ownership even in inner cities outside of the big 5 cities is till very high. Self driving only marginally changes these things
Car ownership may decline slightly but it will be more affordable and more convenient then it is today.
The question that the car sharing pros never answer is why would. Get rid of the convenience of my own car. The only answer is cost and in current models it's still more expensive to not own.
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