Not my favorite idea for any child, but Ez-On makes restraints for this purpose:
http://www.ezonpro.com/catalogs/EZONvehicleCatalog_2005.pdf
Of course, I'd prefer to tame the tantrum/reduce kicking with distraction, communication, behavior modification, etc.
What helps him calm down when upset? How can his self-soothing process/materials be adjusted for use in a vehicle?
Have you been able to figure out when/why he gets upset? What level of language does he have/understand? Does he use any sort of communication system?
Our school (and most) are HUGE into visuals and social stories for kids on the spectrum: make/display/take a picture of him sitting quietly in the car. Write a short story about what it looks like/sounds like to ride safe in the car - and tell why. Rehearse frequently. Here's a site with a long list of social stories as well as "how to" make visual schedules and/or write social stories.
http://blog.autismspectrumdirectory...l-scripts-for-daily-living-and-social-skills/
Talk to school staff. I'm sure one of his teachers or therapists have access to one of the software programs that generates all the pictures you'd need or you could use real photos of him/ your vehicles, etc. At least one also has experience in making visuals and social stories. Ask! Most teachers are more than willing to help problem solve with you.
Have you tried distraction: music, movies, toys, stickers, books, snacks?
Another longer term option would be to get a van/mini van and seat him in the middle rear seat. Put the middle row seats down and he has all the room he wants/needs to kick. Are there other passengers: adults or sibs?