you have two choices
the first method use software (photoshop)
- shoot from the same angle using your tripod (preferable) - time laps shoots. or
- shoot when you can see the street is clearer as much as possible some shoots.
- now combine all your shoots in photoshop using Auto-align and median tool.
for more information please see that video https://www.youtube.com/watch?v=-Ck62S7lrPA
The second method is to use your camera with a long exposure using your tripod and a suitable ND filter depending on how long you expose and the light intensity of your scene. some do it using a square glass holder with a dark glass.
for more please see that video