Unless you're trying to make a movie on the sly, there's no way to get around this. If you want to use public spaces, film on the streets, have the cooperation of the police, you have to have a permit.
“I hate modern car radios. In my car, I don't even have a push-button radio. It's just got a dial and two knobs. Just AM. One knob makes it louder, and one knob changes the station. When you're driving, that's all I want.”