Opponents of Proposition K, the contentious voter-approved ballot measure to permanently ban cars from a portion of San Francisco’s Upper Great Highway, are pushing back with a lawsuit filed Tuesday alleging that the move is illegal.

A group of residents on the west side of San Francisco have filed a lawsuit in a last-ditch attempt to prevent the Great Highway from becoming a permanent park.

Waymo robot taxis in San Francisco are programmed to follow the rules of the road but still got hundreds of tickets for parking violations last year.