[chryuop]

I write it the way my book describes it (but I admit that I forget this rule 100% of the times LOL).

The location over which a movement action takes place is marked by the particle を：

橋をわたる　＝＞　cross a bridge
あの銀行をすぎる　＝＞　pass that bank
この道をまっすぐ行く　＝＞　Go straight in this street
三つ目の交差点を曲がる　＝＞　Make a turn at the 3rd intersection

I might be completely wrong, but your example I would see it more the opposite:
車で市内を運転する