Should I ask this girl out?

There is this girl that walks by on the same street at the same time that I drive by on my way to work and I happen to think she is very beautiful. I was wondering if I should ask this girl out or not and if I should how do I go about doing so. Do I pull up next to this girl on the sidewalk from my car or do I park my car get out and walk up to her? What should I say or do? Keep in mind we are both complete strangers to each other.