The comparison to current public transportation is unfair. First, imagine what public transportation would be like today if as much money had been invested as has been invested in cars. There are more licensed vehicles in the U.S. than there are licensed drivers.
Cars simply cannot beat public transportation in raw material use, operating cost or road space utilization. My car occupies 70 sq ft of road space. At most, it can fit 5 people. That's 14 sq ft per person. A typical bus uses half that (calculated from an MCI D series). Since raw material use is more dependent on the volume, the savings will be even greater there.
My car gets 30 miles per gallon. Fully loaded, that's 150 person-miles per gallon. A fully loaded bus beats that even if it only get 3 miles per gallon. However, since buses run standard routes, they can be wired directly to the power grid, eliminating the need for separate fuel and eliminating the need for the batteries than an electric car needs.
And this is with current technology, developed despite substantially more money being spent on cars and highways.
The reason your commute is faster with a car is that there aren't enough buses/trains. Vehicles with dedicated routes (such as trains and buses driving on bus-only roads) don't get caught in traffic. If they were comparably common, there's no way you could beat them on time either.