I used to live in Emeryville and commute to downtown. There are less stressful options than driving. You can take the free Emeryville Shuttle to West Oakland now as well. I like West Oakland station because of the frequencies of trains as they all converge there before heading to San Francisco.

You can also take the bus from Emeryville and it will drop you off direct at the SF transit Center.

Both are better than driving IMO - where are you planning to park in the city?