There will definitely be induced demand. Most people don't just choose travel mode based on cost though. Travel time/convenience is the biggest factor, and AVs will probably not improve those significantly. The reality is that walking/biking/transit aren't competitive in terms of convenience in most US cities right now. If taking the train is faster than driving, people will do it. That is the fundamental issue that needs to be fixed to allow other options to be successful, and I view killing people's obsession with parking as the largest step in that direction.