Here are two excellent articles on street photography.
On Street Photography and Why Do Street Photography by Russ Lewis.
Street's not really my thing and I haven't thought a lot about it. You might disagree with Russ over definitions, but what he's describing is definitely a form, whatever you want to call it, and it's the form practiced by many of the greats. Russ does a nice job of describing what he thinks of as "street" and makes a credible argument that what he just described is what Cartier-Bresson and those guys were doing. Then he tells you not how to do it, but at least what some pre-requisites are, and why you might want to do it.
Read 'em, they're worth your time! Russ thinks and writes clearly.