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I posted this in another thread, but I will say it again.
Where bike, walking paths, and trails are accessible in which a vehicle can potentially travel, there should be bollards placed vertically across the path every 100 feet. These bollards should be removable to serve other purposes, such as to divert traffic, fire, etc. Spaced far enough apart that a vehicle could not simply drive an entire distance, but would end up hitting the bollards.
Parallel to the path, there should be concrete dividers installed, with openings no wider than 6 foot with a bollard placed at 3 foot, that is removable.
In places that are more rural or where possible, trees and other shrubbery's can take the place of barriers and bollards.
I mean honestly, in the city if money is a limiting factor, you can really just place half circle pieces o concrete about 8 inches every 2 feet or so, 90% of vehicles can't get over them, and the ones who can would have to do so slowly.