It seems inevitable that self driving cars are coming. When they do, they will change housing dynamics in a fundamental way.
Will this change make city living more or less desirable?
A few forces could be at work here:
* Parking lots in major cities are free'd up because they no longer make sense creating more housing real estate. City living is more affordable.
* Traffic Congestion is reduced so commutes are shorter creating more demand for suburb living.
* Distances feel shorter because they are no longer inconvenient so living outside the city makes more sense - more suburb demand.
* City living gets even more desirable because of the abundance of cheap self-driving cabs not available in more rural areas - city prices go up.
* More?
I'm sure some of these things will have a very little impact while others will have huge impact. I just wonder about the net result. Any speculation?
Self driving cars could encourage sprawl by making commuting long distances more practical. If you could be working during your commute instead of driving, and didn't need to find parking once you arrive, a 2-hour commute could become practical. That would intensify the "car culture" that currently drives municipal planning, but would reduce the harmful effects. As you mention, less space wasted on parking, less congestion etc.
On the other hand, driverless cars will be a big boost for Uber, Lyft, Zipcar, GetAround and the like. That could make city living more desirable, because car-on-demand only works well when there are lots of available cars nearby. Folks that live out in the boonies would still have to own their own cars, and so wouldn't benefit as much from the technology as city-dwellers. Also, spending less space on parking has a bigger effect in the city where space is already tight, so we might see even higher density in the inner city.