Autonomous vehicles won't eliminate public transport for the same reason why Uber won't. Sometimes it's more convenient to have a car pick you up, and other times it's easier to take a train. Traveling across the length of a city will probably always be easier by train. There is no way autonomous vehicles will be able to replace trains in cities such as London, New York, Tokyo or other sprawling megacities. There is simply not enough room on the road, even with efficiencies gained by automation. Moreover, even if these vehicles are non-emission/electric they can still be disruptive to walkable neighborhoods [[try crossing busy street of self-driving cars)!
Yes, maybe suburbs will function much more efficiently with autonomous vehicles, but many people will always desire to live in cities, which remain the most expensive places in the world to live [[obviously Detroit is an exception). Suburbs may be a growth area, but one reason is the expense of living in cities, not to mention the ill effects [[especially in american cities) such as crime and pollution which are not inherent to cities themselves, but rather effects of a greater socioeconomic context.
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