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"I've come across more and more people who've actually tried reading science fiction and can't make it make sense."
- Samuel R. Delany

No Steering Wheel Autonomous Car  
  An autonomous vehicle without a wheel for human drivers.  

As far as I know, this is the first mention of this idea.

The car had no steering wheel, and no one drove! Ames tinkered around with something on the instrument board when he got in ; and in a few moments we were off.
Technovelgy from Paradise and Iron, by Miles J. Breuer.
Published by Amazing Stories Quarterly in 1930
Additional resources -

If you want to be picky, another mention of a car without a steering wheel is in Photo Control, a 1934 story by Bernard Brown:

"There are one or two points that I have not mentioned. For instance rounding corners. I suppose you have noticed that the car has no steering wheel?

"No?"

"This has been replaced by a simple right and left key switch.

Obviously, not fully autonomous

And there is the car described in The Living Machine (1935) by David H. Keller, MD:

"I want to show you something new in the way of an automobile." "Nothing new about this," laughed Babson, scornfully. "One of our best and most familiar models."

"How about the steering wheel?"

"Where is it?"

"I do not need one. Sit down and make yourself comfortable. Now watch me. We are going into traffic..."

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Additional resources:
  More Ideas and Technology from Paradise and Iron
  More Ideas and Technology by Miles J. Breuer
  Tech news articles related to Paradise and Iron
  Tech news articles related to works by Miles J. Breuer

No Steering Wheel Autonomous Car-related news articles:
  - GM Introduces Cruise AV With No Steering Wheel
  - Elon Musk Foretells Tesla Sans Steering Wheel
  - Elon Musk: Production Of Robotaxis In 2024
  - Elon Musk Says Robotaxis Will Be Ready This August, 2024

Articles related to Vehicle
'Autonomous' Waymo Improves Driving With Remote Human Operators
Heinleinís Controlway - Connected and Automated Vehicle (CAV) Corridor In Michigan
CyberCab - Tesla Renames The Robotaxi
Elon Musk Says Robotaxis Will Be Ready This August, 2024

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