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"I believe in limited government, and the 20th century has been the century of government. The data is uniform. The government has failed at every single task it has set out to do, with the exception of waging war."
- Bart Kosko

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"This has been replaced by a simple right and left key switch.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

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