driverless cars would massively improve both congestion and parking (the other thing bike lanes interfere with) in cities.

I would agree that they could improve congestion on highways, but in cities? The congestion is there because a huge ass vehicle is being used by a single person x 1 million. Unless you're talking driverless buses :)

And if infrastructure isn't balanced, so it benefits ALL road users, and not just driverless cars, then it will cause more harm than good. City infrastructure that is balanced won't make cars go any faster than everyone else (in fact, it makes drivers take less direct paths to their destination!), so the only thing you might be solving is fewer crashes caused by negligent drivers.

So, indirectly, yes, they may help with congestion, but not for the reasons we'd assume.

We already have perfectly good examples of things working in other cities and countries. It's our (Government's) stubborn refusal to implement what we need that's causing these problems.