https://www.amazon.de/-/en/Peter-Norton-ebook/dp/B09FH252GQ
Read this on self-driving anything.
You can start by banning cars within city limits (use a P+R, then use public transport), and then extend from there as your public transport evolves.
Making cars impossible to use conveniently outside of cities and banning them in cities is an excellent start.
@isotopp @vladh as a start but we have houses (small holdings, farms etc) miles up gravel tracks. People will need some form of transport and public transport would need to be door to door to replace that.
Having also lived in cities I do agree we don't need cars in cities. Good infrastructure would be so easy to put in without cars. We do also need better delivery services moving stuff about is a big use of cars.