Let me answer your question from the start:
No I don't think there's any existing software which you feed video video and receive a composed shot. But that's not a big deal, because:
Doing this yourself isn't this hard. But, I would advise against it, because it's a bad idea and not very practical (and there's a better way).
Extracting a clear still-shot from a video can be pretty tough. Try pausing any video you have on the computer. You probably have pixel areas that are "stuck" from the previous frame. Maybe, almost surely, a part of the video will be blurry. Because video looks good when it's playing, not when it's paused. So here's what you do instead:
You're going to need a DSLR camera, something to steady your camera while you shoot, and a car and a buddy to drive you around.
Take your DSLR and set it to manual mode. When setting your shutter, the faster the better. You'll probably want everything to be as clear as possible so it's essential that your shot is captured very fast. Fast shutter also means less light coming in so be sure to use a pretty wide lens and set your ISO accordingly. Of course, be sure to do this on a nice, sunny day to get the most out of the sunlight. Having a steady shot will be pretty important, but I wouldn't recommend resting the camera on the door because your camera will feel tiny vibrations and every bump the car takes and your shots may be blurry/uneven. Instead, set a small tripod or a big bag on yourself and rest the camera on it.
Then, it's just a matter of driving around at a relatively slow and steady speed and taking shots regulargly, making sure you overlap them sightly. Take more shots than you need, to be on the safe side. You'd much rather have to manually delete certain pictures that aren't necessary than to be missing a section of the street. To assemble the shots, apps like Photoshop can stitch the images with relative ease. Hopefully if you shoot steady enough, you will only have to manually crop/zoom a few images for your entire image.