The book Deschooling Society has a good explanation about how the design of public roads is used as a means of social control. Ctrl-F for the section on mechanical donkeys. https://monoskop.org/images/1/17/Illich_Ivan_Deschooling_Soc...
> driving in manhattan
I think you may be confused.
Driving in NYC is already off-limits to the poor and has been for awhile. Congestion pricing will be a net benefit to them because it will get a lot of car traffic off the road, thus reducing the chance of being struck by a vehicle (as a pedestrian), making buses much faster, and making biking more viable. Some of the poorest residents of NYC just use bikes, for example -- even the $121/month MetroCard is too much for them. Building out the bike lane network more would help them the most.
No matter what you do you could never change this. You will simply create an alternative (and/or parallel) system with its own poors.