Informally, you can have a shunt or (esp. UK, prang), but those nouns are usually only used of relatively minor collisions (not fatal accidents). The "idiomatic" versions of OP's suggested verbs (where another vehicle is involved) are...
I hit a car in the street.
I crashed into a car in the street.
I collided with a car in the street.
Note that you can say "I pranged my car" (you hit something, or ran it into a ditch, say), but you don't usually prang into another car. And as a verb usage you don't shunt your own car - you might (rarely) shunt into another vehicle, but that usually implies the other car wasn't moving at the time - if two moving vehicles collide (usually, at relatively low speeds), they have a shunt.
More serious accidents include pile-ups or smash-ups (involving three or more vehicles), but they happen on things like motorways, not streets. If a vehicle is damaged beyond economic repair you might say you totalled it (where an insurance company would say it's a total write-off, and offer you the value of the car before the accident, rather than pay for it to be repaired). You wouldn't normally use that expression if fatalities were involved.
If you're in a line of (usually, relatively slow-moving) traffic in a street and one car stops suddenly (to avoid hitting a dog, say) several of the following cars may be unable to stop in time. In which case they're involved in a shunt collision (only the tailgate/boot of the first car and the front bumper/bonnet of the last are damaged, but all the others suffer both types of damage).