I think that this article does a good job of describing what the world will look like once (once, not if) autonomous cars have taken over completely, and the many ways in which this will make all of our lives a lot better. (Saved lives, saved time, less pollution, less cost to each of us individually, etc) However, I think he grossly overestimates the speed of the transition: by 2025 I'd expect to see large-scale experiments rolling out, but I wouldn't expect to reach the final equilibrium point he's describing until 2050 at the soonest.
I think that he also underestimates the violence with which these changes will be resisted. As he points out, several existing industries are likely to be cratered, most notably car manufacture (autonomous cars serving people on-demand could be active 95% of the time, versus 4% of the time for passenger cars today; that's a 24x reduction in the number of cars needed per person) and professional drivers. We're already seeing tremendous resistance by vested interests in the existing taxi business to even ordinary competition like Uber; what will happen when it starts to become clear to them that the entire business is about to go away, never to return?
In this regard, I think that we can draw useful lessons from the collapse of the longshoreman industry with the rise of containerized shipping. On the US' West Coast, strong longshore unions negotiated a phased shutdown with shipping companies; on the East Coast, weak unions spent more time fighting and undercutting each other than negotiating, and the net result was a serious collapse of all shipping to those ports, with the longshoremen bearing the brunt of it. Marc Levinson's book The Box has an interesting discussion of this. I suspect that similar phenomena will be seen here.
But even more so than with the transition to containerized shipping, the transition to autonomous vehicles is likely inevitable: the advantages are too large and too widespread, and the disadvantages too limited, for groups to successfully be able to prevent it for their own interest.