That sample is probably no more than about 10-15 seconds, considering the speed of the cars on a highway.
You didn't say what kind of camera you have, but if it's a point and shoot, just put it on auto and let the camera do ths thinking for you.
The best way to do it is to put the camera on a tripod and use the self-timer to release the shutter. If you don't have a tripod, brace your camera on something and hold it as still as you can. If you don't know how to use the self-timer, just hold the shutter button down until the camera is done.