I disagree. A proportion of the inefficiency of the urban road network is because drivers cannot simultaneously move when traffic lights change to green (or more generally, cannot coordinate with each other to maximise efficiency). My home town is a classic case, the green phase on some junctions is no more than 10 seconds, and it can take nearly 5 seconds for the lead driver to wake up and move off, cutting the number of vehicles that can get through the lights by nearly half. This reduces the throughput of light controlled junctions. In fact, if all cars on the road were driverless, you could dispense with traffic lights entirely. Traffic lights are merely a blunt tool for different streams of traffic to communicate with each other. With driverless cars, each vehicle could communicate its intended path with every other vehicle in the vicinity and avoidance paths could be calculated and implemented on the fly. Another way driverless cars could reduce congestion is to always position themselves on the motorway equidistant from the vehicle in front and the vehicle behind, and maintain that distance. This prevents the irritation of traffic waves where everyone periodically grinds to a halt then the congestion clears with no apparent cause. It is explained here:
Keep in mind that my answer was in the context of more people using automatous vehicles, the poster indicated that the railways would be in decline.
Yes, if ALL road vehicles were automatous, you would do away with traffic lights and various other junction layouts that are designed to slow down or otherwise restrict human driven vehicles. This, along with closer distance between vehicles and co-ordinated control would increase the number of vehicles in a given space. But I don’t think these changes would be enough to eliminate congestion where it is bad now. Let alone if there are no trains. Unless remote working catches on big time with employees only going into to office occasionally.
And as said above, while there are vehicles on the roads that have a human in control, well, you still need traffic lights and the various restricted junction layouts.
Oh, and by the way, in some parts of the country, drivers are already moving by the time the traffic lights turn green, and when the change to red, people often jump the lights. It’s not right, but it happens.
Anyway, back to trains. If/when the signalling system is changed to the highest level of ETCS/ERTMS, then this will enable the possibility of higher lines speeds and closer distances between trains, especially at slower speeds. Instead of the signalling system using fixed length sections (between signals), instead the distance can be reduced down to the service braking distance (plus a short safety margin). Also, the length of trains becomes much less important (from the signalling point of view), so where there are currently limits on the length of trains (due to the current signalling system), it may be possible to run longer trains. Combined, this will increase line capacity, thus in theory, in the long term, making trains more economic.
So, on a fast main line, if the track can be upgraded for say 155 MPH, then that’s the speed a suitable train could go. I don’t think it’s very likely that many automatous vehicles will be able to match that. Let alone offer the same capacity at that speed that a train would.