Nearly two years after his death, Paul Walker’s estate is reportedly taking legal action against an acquaintance of the "Fast & Furious" star. They claim the man has cars rightfully belonging to them.

According to the Hollywood Reporter Richard Taylor, who helped Walker with his extensive car collection, is in possession of seven of the actor’s vehicles. The Wrap reports that the cars are a 2003 BMW M3, a 2006 Ford Crown Victoria, a 2004 GMC truck, three 1995 BMW M3s and a 2011 Porsche GT3 RS. A lawsuit, filed in Los Angeles Superior Court June 11, states that Taylor or people associated with him removed the cars from the warehouse in which they were being held. It is believed this occurred within 24 hours of Walker's death.

Walker’s estate claims the theft is a part of a larger plan. In the court papers it states that Taylor was asked to compile a list of all the vehicles owned by Walker at the time of his death. The list included 31 cars, though the estate claims they later found that Taylor had chosen to exclude several vehicles and their locations from the list.

“To date, Defendant has failed and refused to deliver possession of any of the Vehicles to Plaintiff, preferring instead to maintain possession and control over the Vehicles in order to extort money or other concessions from Plaintiff,” the lawsuit reads.

Walker was killed in a car accident on Nov. 30, 2013. He was riding in his 2005 Porsche Carrera GT, driven by friend Roger Rodas. The driver lost control of the vehicle, which swerved into trees, crashed into a lamppost and burst into flames. Both men were said to have died on impact.

Walker’s estate is requesting a trial by jury in this case. It remains unclear whether a Los Angeles County judge will grant that wish.