My dog got hit by a car 2 years ago when she was a puppy, now she won't go for walks in my neighborhood, how can I just walk out of the house and take her for a walk again?

You can't "just walk", you need to retrain and build up her confidence. Itis going to take time and consistency in training. Start by putting her leash on her and playing in the front yard. After she is comfortable with that use treat6s to coax her out on the side walk. After she is comfortable with that use the treats to get her to the corner. And then after she is comfortable with that the next block, and so forth. 

When she wants to go for a walk she will if she doesn't take just means she might be scared or she just doesn't want to.

It's going to take some time and a lot of patience. Go slow and easy, never push her into something she doesn't want to do. That will just cause more stress for her. If you don't have any luck doing it yourself then try an animal behaviorist. Sometimes trauma like that requires a professional.