John Macnie’s 1883 utopian novel The Diothas describes paved roads on which cars achieve speeds of 20 miles per hour:

When we had fairly emerged into the country, the curricle, gradually increasing its speed, moved over the smooth track like a shadow, obedient to the slightest touch of its guide. Steering was effected much as in the tricycle of the present: the brakes were controlled by the feet. The forefinger, by means of a lever resembling the brake of a bicycle, regulated the amount of force allowed to issue from the reservoir.

That’s not the remarkable part, though. “‘You see the white line running along the centre of the road,’ resumed Utis. ‘The rule of the road requires that line to be kept on the left except when passing a vehicle in front. Then the line may be crossed, provided the way on that side is clear.'”