(1) The department of transportation may by rule and local authorities may by ordinance regulate or prohibit the use of a controlled-access highway under their respective jurisdictions by any class or kind of traffic that is found to be incompatible with the normal and safe movement of traffic or by any vehicle.
(2) The department or the local authority that adopts the prohibitory regulation shall erect and maintain official traffic control devices on the controlled-access highway on which these regulations are applicable. A person may not violate the restrictions stated on the official traffic control devices.