Street racing is typically an unsanctioned and illegal form of auto racing that occurs on a public road. Racing in the streets is an ancient hazard, as horse racing occurred on streets for centuries, and street racing of automobiles is as old as the automobile itself. It became especially prevalent during the heyday of hot rodding and muscle cars, and it continues to be both popular and hazardous, with deaths and maiming of bystanders, passengers, and drivers occurring every year. In the United States, modern street racing traces its roots back to Woodward Avenue, Michigan in the 1960s when the three main Detroit-based American car companies were producing high-powered performance cars. A private racing venue was not always available, and therefore the race would be held illegally on public roads.