I'd say that, if you want 30 seconds and not, say, 8 seconds, then put the camera into shutter priority mode (I assume the set speeds go as slow as 30 seconds, most do) and let the camera set an appropriate aperture. But you might find that, even on the lowest ISO setting, there's too much light coming from street lights etc. - in that case a neutral density (or even a polarising) filter can help to cut the light down and give you the possibility of longer exposures. Oh, and the ISO setting generally wants to be as low as possible, as that will help keep exposures long.
Another thing to try is second curtain flash with long exposures. The 'second curtain' setting means the flash will fire at the end of the exposure, instead of the beginning, and so you can catch the blur of the car with a 'frozen' image of it captured just before the shutter closes. But not a good idea if you're just taking pictures of random cars on a public road!
-------------------- John
Who could suppose that angels move the stars, or be so superstitious as to suppose that because one cannot see one's soul at the end of a microscope, it does not exist?