Reguly is right that self-driving cars will not eliminate parking. People accustomed to personal vehicles won't always want the self-driving car to go away when they reach their destination. They use the car as a rolling storage locker. 
When many people are going to generally the same area, mass transit such as trains and buses is the obvious solution. Experience shows that we can build transit, but many people will invent reasons why they simply must go in their own car. Politicians ignore the refuseniks at their peril. 
The benefits of self-driving cars have probably been oversold. They are not a panacea, but in some cases they might be a workable compromise for a stubbornly car-dependent population.