The short answer is yes, you are right in selecting "past" as the correct word. Here's why:
In your sentence, the verb is "drive", and "past" is a preposition of direction that introduces details of where you drove. It's easy to tell it's a prep, not a verb because you can substitute it with certain other prepositions like "towards", "around":
"She drove past/towards/around the vehicles in the high street"
"Ed walked past/towards/around me on his way to the shops".
"Bob swam past/towards/around the other swimmers in the pool".
In those examples, "drove", "walked" and "swam" are all verbs - they denote the action, whereas "past", "towards" and "around" are simple prepositions introducing details of where "She drove", "Ed walked", and "Bob swam".
"Passed" is used as a verb in examples like these:
"I passed a cyclist on the way to work"
"Ed has passed all his exams"
"Kim passed away last week"