Also, find a good spot that's not too windy.
some misconceptions here.
you dont need a few minutes exposure. that shot is probably 6-7sec exposure judging by the lengths of the lights.
you dont need a small aperture for the depth of field. by focusing to infinite, anything between 4meters to infinity (specific to your lens) will be in focus.
you need small aperture to get the "star burst/flare" effect on the street lamps. you also need small apertures so you can increase shutter time.
However, aperture cannot be too small, otherwise the car headlamps will be too thin or light or underexposed.
usually for this kind of shots i think in this way:
1) decide how long of a shutter speed to use depending on the length (or amount) of streaks i want
2) set the aperture and ISO to give a good exposure using the shutterspeed as a constraint
3) tweak aperture and ISO to give the brightness of the streaks that i want.
4) go back to adjusting my shutterspeed if aperture and Iso cannot get me what i want
there are very long explanations behind this being, the headlamps are not considered ambient light. they are likened to be "flash" like our camera flash.