I believe this was part of a short story, or a novella. Automated transportation is the current technology. Vehicles must be automated and human control has been outlawed for safeties sake.
The protagonist observes the scene as he is flying from point A to Point B:
There is a stretch of concrete road, maintained by an underground group of outlawed car enthusiasts, and they are in the midst of (recklessly) racing these automobiles against other human drivers despite the dangers and in defiance of the law.
It is a brief scene, and has little to do with the overall story, so I'm having a difficult time recalling just which book it was a part of.
Likely read it in the 1980's.