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If the shared car-cloud model becomes dominant though, I suspect utilization will be higher for cars than either trains or buses, with net lower $ and carbon per passenger-mile...
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I am becoming convinced that autonomous vehicles are designed to solve the problem of "I live in a wealthy suburb but have a horrible car commute and don't want to drive anymore but also hate trains and buses."
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There have been concept studies for high-density AV highway systems with platooning fleets since the 90s. It's not something that can be proved or dismissed at this stage. But if you're closed to possibility there's nothing more to say. There's sincere people working the angle.