How to delete entity

I have a Many-to-Many relationship (driver is the main thing), using Jpa Repository I try to delete an entity, but I get this exception:

2022-01-10 23:36:10.664  INFO 24152 --- [           main] o.h.e.j.b.internal.AbstractBatchImpl     : HHH000010: On release of batch it still contained JDBC statements
2022-01-10 23:36:10.665 ERROR 24152 --- [           main] o.h.e.jdbc.batch.internal.BatchingBatch  : HHH000315: Exception executing batch [java.sql.BatchUpdateException: Cannot delete or update a parent row: a foreign key constraint fails (`taxi_bd_test`.`driver_car`, CONSTRAINT `FK30pax2ryivkt4kcm8ul9w3uok` FOREIGN KEY (`car_id`) REFERENCES `car` (`id`))], SQL: delete from Car where id=?
2022-01-10 23:36:10.665  WARN 24152 --- [           main] o.h.engine.jdbc.spi.SqlExceptionHelper   : SQL Error: 1451, SQLState: 23000
2022-01-10 23:36:10.665 ERROR 24152 --- [           main] o.h.engine.jdbc.spi.SqlExceptionHelper   : Cannot delete or update a parent row: a foreign key constraint fails (`taxi_bd_test`.`driver_car`, CONSTRAINT `FK30pax2ryivkt4kcm8ul9w3uok` FOREIGN KEY (`car_id`) REFERENCES `car` (`id`))

org.springframework.dao.DataIntegrityViolationException: could not execute batch; SQL [delete from Car where id=?]; constraint [null]; nested exception is org.hibernate.exception.ConstraintViolationException: could not execute batch

    at org.springframework.orm.hibernate5.SessionFactoryUtils.convertHibernateAccessException(SessionFactoryUtils.java:210)
    at org.springframework.orm.hibernate5.HibernateTransactionManager.convertHibernateAccessException(HibernateTransactionManager.java:785)
    at org.springframework.orm.hibernate5.HibernateTransactionManager.doCommit(HibernateTransactionManager.java:655)
    at org.springframework.transaction.support.AbstractPlatformTransactionManager.processCommit(AbstractPlatformTransactionManager.java:743)
    at org.springframework.transaction.support.AbstractPlatformTransactionManager.commit(AbstractPlatformTransactionManager.java:711)
    at org.springframework.transaction.interceptor.TransactionAspectSupport.commitTransactionAfterReturning(TransactionAspectSupport.java:654)
    at org.springframework.transaction.interceptor.TransactionAspectSupport.invokeWithinTransaction(TransactionAspectSupport.java:407)
    at org.springframework.transaction.interceptor.TransactionInterceptor.invoke(TransactionInterceptor.java:119)
    at org.springframework.aop.framework.ReflectiveMethodInvocation.proceed(ReflectiveMethodInvocation.java:186)
    at org.springframework.aop.framework.CglibAopProxy$CglibMethodInvocation.proceed(CglibAopProxy.java:753)
    at org.springframework.aop.framework.CglibAopProxy$DynamicAdvisedInterceptor.intercept(CglibAopProxy.java:698)
    at ua.com.alevel.persistence.crud.impl.CrudRepositoryHelperImpl$$EnhancerBySpringCGLIB$$39a61dd0.delete(<generated>)
    at ua.com.alevel.service.impl.DriverServiceImpl.delete(DriverServiceImpl.java:51)
    at ua.com.alevel.service.impl.DriverServiceImpl$$FastClassBySpringCGLIB$$c63a6014.invoke(<generated>)
    at org.springframework.cglib.proxy.MethodProxy.invoke(MethodProxy.java:218)
    at org.springframework.aop.framework.CglibAopProxy$DynamicAdvisedInterceptor.intercept(CglibAopProxy.java:689)
    at ua.com.alevel.service.impl.DriverServiceImpl$$EnhancerBySpringCGLIB$$55260f0f.delete(<generated>)
    at ua.com.alevel.RepositoryApplicationTests.hDeleteDriver(RepositoryApplicationTests.java:153)
    at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke0(Native Method)
    at java.base/jdk.internal.reflect.NativeMethodAccessorImpl.invoke(NativeMethodAccessorImpl.java:77)
    at java.base/jdk.internal.reflect.DelegatingMethodAccessorImpl.invoke(DelegatingMethodAccessorImpl.java:43)
    at java.base/java.lang.reflect.Method.invoke(Method.java:568)
    at org.junit.runners.model.FrameworkMethod$1.runReflectiveCall(FrameworkMethod.java:59)
    at org.junit.internal.runners.model.ReflectiveCallable.run(ReflectiveCallable.java:12)
    at org.junit.runners.model.FrameworkMethod.invokeExplosively(FrameworkMethod.java:56)
    at org.junit.internal.runners.statements.InvokeMethod.evaluate(InvokeMethod.java:17)
    at org.springframework.test.context.junit4.statements.RunBeforeTestExecutionCallbacks.evaluate(RunBeforeTestExecutionCallbacks.java:74)
    at org.springframework.test.context.junit4.statements.RunAfterTestExecutionCallbacks.evaluate(RunAfterTestExecutionCallbacks.java:84)
    at org.springframework.test.context.junit4.statements.RunBeforeTestMethodCallbacks.evaluate(RunBeforeTestMethodCallbacks.java:75)
    at org.springframework.test.context.junit4.statements.RunAfterTestMethodCallbacks.evaluate(RunAfterTestMethodCallbacks.java:86)
    at org.springframework.test.context.junit4.statements.SpringRepeat.evaluate(SpringRepeat.java:84)
    at org.junit.runners.ParentRunner.runLeaf(ParentRunner.java:366)
    at org.springframework.test.context.junit4.SpringJUnit4ClassRunner.runChild(SpringJUnit4ClassRunner.java:251)
    at org.springframework.test.context.junit4.SpringJUnit4ClassRunner.runChild(SpringJUnit4ClassRunner.java:97)
    at org.junit.runners.ParentRunner$4.run(ParentRunner.java:331)
    at org.junit.runners.ParentRunner$1.schedule(ParentRunner.java:79)
    at org.junit.runners.ParentRunner.runChildren(ParentRunner.java:329)
    at org.junit.runners.ParentRunner.access$100(ParentRunner.java:66)
    at org.junit.runners.ParentRunner$2.evaluate(ParentRunner.java:293)
    at org.springframework.test.context.junit4.statements.RunBeforeTestClassCallbacks.evaluate(RunBeforeTestClassCallbacks.java:61)
    at org.springframework.test.context.junit4.statements.RunAfterTestClassCallbacks.evaluate(RunAfterTestClassCallbacks.java:70)
    at org.junit.runners.ParentRunner$3.evaluate(ParentRunner.java:306)
    at org.junit.runners.ParentRunner.run(ParentRunner.java:413)
    at org.springframework.test.context.junit4.SpringJUnit4ClassRunner.run(SpringJUnit4ClassRunner.java:190)
    at org.junit.runner.JUnitCore.run(JUnitCore.java:137)
    at com.intellij.junit4.JUnit4IdeaTestRunner.startRunnerWithArgs(JUnit4IdeaTestRunner.java:69)
    at com.intellij.rt.junit.IdeaTestRunner$Repeater.startRunnerWithArgs(IdeaTestRunner.java:33)
    at com.intellij.rt.junit.JUnitStarter.prepareStreamsAndStart(JUnitStarter.java:235)
    at com.intellij.rt.junit.JUnitStarter.main(JUnitStarter.java:54)
Caused by: org.hibernate.exception.ConstraintViolationException: could not execute batch
    at org.hibernate.exception.internal.SQLStateConversionDelegate.convert(SQLStateConversionDelegate.java:109)
    at org.hibernate.exception.internal.StandardSQLExceptionConverter.convert(StandardSQLExceptionConverter.java:37)
    at org.hibernate.engine.jdbc.spi.SqlExceptionHelper.convert(SqlExceptionHelper.java:113)
    at org.hibernate.engine.jdbc.batch.internal.BatchingBatch.performExecution(BatchingBatch.java:131)
    at org.hibernate.engine.jdbc.batch.internal.BatchingBatch.doExecuteBatch(BatchingBatch.java:106)
    at org.hibernate.engine.jdbc.batch.internal.AbstractBatchImpl.execute(AbstractBatchImpl.java:148)
    at org.hibernate.engine.jdbc.internal.JdbcCoordinatorImpl.executeBatch(JdbcCoordinatorImpl.java:198)
    at org.hibernate.engine.spi.ActionQueue.executeActions(ActionQueue.java:633)
    at org.hibernate.engine.spi.ActionQueue.lambda$executeActions$1(ActionQueue.java:478)
    at java.base/java.util.LinkedHashMap.forEach(LinkedHashMap.java:721)
    at org.hibernate.engine.spi.ActionQueue.executeActions(ActionQueue.java:475)
    at org.hibernate.event.internal.AbstractFlushingEventListener.performExecutions(AbstractFlushingEventListener.java:344)
    at org.hibernate.event.internal.DefaultFlushEventListener.onFlush(DefaultFlushEventListener.java:40)
    at org.hibernate.event.service.internal.EventListenerGroupImpl.fireEventOnEachListener(EventListenerGroupImpl.java:107)
    at org.hibernate.internal.SessionImpl.doFlush(SessionImpl.java:1402)
    at org.hibernate.internal.SessionImpl.managedFlush(SessionImpl.java:493)
    at org.hibernate.internal.SessionImpl.flushBeforeTransactionCompletion(SessionImpl.java:3285)
    at org.hibernate.internal.SessionImpl.beforeTransactionCompletion(SessionImpl.java:2420)
    at org.hibernate.engine.jdbc.internal.JdbcCoordinatorImpl.beforeTransactionCompletion(JdbcCoordinatorImpl.java:449)
    at org.hibernate.resource.transaction.backend.jdbc.internal.JdbcResourceLocalTransactionCoordinatorImpl.beforeCompletionCallback(JdbcResourceLocalTransactionCoordinatorImpl.java:183)
    at org.hibernate.resource.transaction.backend.jdbc.internal.JdbcResourceLocalTransactionCoordinatorImpl.access$300(JdbcResourceLocalTransactionCoordinatorImpl.java:40)
    at org.hibernate.resource.transaction.backend.jdbc.internal.JdbcResourceLocalTransactionCoordinatorImpl$TransactionDriverControlImpl.commit(JdbcResourceLocalTransactionCoordinatorImpl.java:281)
    at org.hibernate.engine.transaction.internal.TransactionImpl.commit(TransactionImpl.java:101)
    at org.springframework.orm.hibernate5.HibernateTransactionManager.doCommit(HibernateTransactionManager.java:643)
    ... 46 more
Caused by: java.sql.BatchUpdateException: Cannot delete or update a parent row: a foreign key constraint fails (`taxi_bd_test`.`driver_car`, CONSTRAINT `FK30pax2ryivkt4kcm8ul9w3uok` FOREIGN KEY (`car_id`) REFERENCES `car` (`id`))
    at java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance0(Native Method)
    at java.base/jdk.internal.reflect.NativeConstructorAccessorImpl.newInstance(NativeConstructorAccessorImpl.java:77)
    at java.base/jdk.internal.reflect.DelegatingConstructorAccessorImpl.newInstance(DelegatingConstructorAccessorImpl.java:45)
    at java.base/java.lang.reflect.Constructor.newInstanceWithCaller(Constructor.java:499)
    at java.base/java.lang.reflect.Constructor.newInstance(Constructor.java:480)
    at com.mysql.cj.util.Util.handleNewInstance(Util.java:192)
    at com.mysql.cj.util.Util.getInstance(Util.java:167)
    at com.mysql.cj.util.Util.getInstance(Util.java:174)
    at com.mysql.cj.jdbc.exceptions.SQLError.createBatchUpdateException(SQLError.java:224)
    at com.mysql.cj.jdbc.ClientPreparedStatement.executeBatchSerially(ClientPreparedStatement.java:853)
    at com.mysql.cj.jdbc.ClientPreparedStatement.executeBatchInternal(ClientPreparedStatement.java:435)
    at com.mysql.cj.jdbc.StatementImpl.executeBatch(StatementImpl.java:800)
    at org.hibernate.engine.jdbc.batch.internal.BatchingBatch.performExecution(BatchingBatch.java:121)
    ... 66 more
Caused by: java.sql.SQLIntegrityConstraintViolationException: Cannot delete or update a parent row: a foreign key constraint fails (`taxi_bd_test`.`driver_car`, CONSTRAINT `FK30pax2ryivkt4kcm8ul9w3uok` FOREIGN KEY (`car_id`) REFERENCES `car` (`id`))
    at com.mysql.cj.jdbc.exceptions.SQLError.createSQLException(SQLError.java:117)
    at com.mysql.cj.jdbc.exceptions.SQLExceptionsMapping.translateException(SQLExceptionsMapping.java:122)
    at com.mysql.cj.jdbc.ClientPreparedStatement.executeInternal(ClientPreparedStatement.java:953)
    at com.mysql.cj.jdbc.ClientPreparedStatement.executeUpdateInternal(ClientPreparedStatement.java:1098)
    at com.mysql.cj.jdbc.ClientPreparedStatement.executeBatchSerially(ClientPreparedStatement.java:832)
    ... 69 more

I understand that I have an error when binding entities to each other using hibernate, but I do not know how to fix it:(

How I create a relationship: Car:

@ManyToMany(mappedBy = "cars")
private Set<Driver> drivers;

Driver:

@ManyToMany(cascade = {
        CascadeType.PERSIST,
        CascadeType.MERGE
})
@JoinTable(name = "driver_car",
        joinColumns = @JoinColumn(name = "driver_id"),
        inverseJoinColumns = @JoinColumn(name = "car_id")
)
private Set<Car> cars;

I have a CrudRepositoryHelper where I have described for these entities CRUD, findBy and findAll, give you the delete code:

@Override
@Transactional(isolation = Isolation.REPEATABLE_READ)
public void delete(R repository, Long id) {
    checkById(repository, id);
    repository.deleteById(id);
} 

How do I try to remove Car:

@Override
public void delete(Long id) {
    crudRepositoryHelper.delete(carRepository, id);
}

How do I try to remove Driver:

@Override
public void delete(Long id) {
    Set<Car> cars = findById(id).get().getCars();
    for(Car car: cars){
        if(car.getDrivers().size() <= 1){
            crudRepositoryHelperCar.delete(carRepository, car.getId());
        }
    }
    crudRepositoryHelper.delete(driverRepository, id);
}

Although, when I worked with Jpa, and not JpaRepository (with the same connections and delete) everything worked fine, but now for some reason it does not work

Delete Car in Jpa:

 @Override
    public void delete(Long id) {
        entityManager.createQuery("delete from Car s where s.id = :id")
                .setParameter("id", id)
                .executeUpdate();
    }

Delete Driver in Jpa:

@Override
public void delete(Long id) {
    entityManager.createQuery("delete from Driver d where d.id = :id")
            .setParameter("id", id)
            .executeUpdate();
}

Cascade for Delete is not there it will not delete the relation when you are deleting the Car entity.

@ManyToMany(cascade = {
        CascadeType.ALL
}, orphanremoval = true)
@JoinTable(name = "driver_car",
        joinColumns = @JoinColumn(name = "driver_id"),
        inverseJoinColumns = @JoinColumn(name = "car_id")
)
private Set<Car> cars;