To get rid of cars, you need cities designed for people, not cars: otherwise everything is so far away that nothing gets ever done. We won't get rid of cars until oil is ridiculously expensive and we must give up. That will also leave much of the recent (since 1950's) development to decay, and new cities will emerge where there are new concentrations of people.

So, we will get a future without cars at some point, it's just not going to be a nice convenient continuum to something else.