Low light and bright street lights are a difficult combination so go manual.
Use MANUAL EXPOSURE and MANUAL FOCUS for greater accuracy.
Use a HIGH ISO (ISO 800) to gather as much light as possible for your lens.
Use a WIDE APERTURE (around f5.6) to allow a reasonable shutter speed.
Use a moderate SHUTTER SPEED |||(around 1/15 sec) to begin and adjust accordingly.
WHITE BALANCE may be DAYLIGHT or TUNGSTEN according to the predominant lighting source.
Use a WIDE ANGLE LENS (18 - 24mm) for street scenes.
Brace the camera well or use a tripod for good sharp images.