It doesn't increase the number of vehicles needed, but it may increase the number of vehicles wanted. If a family of four has two kids that attend different schools, and two jobs in different locations, and everything starts at 8 am (because, life); each person can most delay leaving the house if there is one vehicle per person.
There's no significant untapped well of car ownership to be found from self-driving cars. But the market for commuter-grade cars will plummet.