Take her in the car for trips other than the park. Put her in the car I the drive, start the engine, then switch it off and take her back to the house. Put her in the car, start the engine, then take her out again. Put her in the car drive a couple of yards in front on front of the house, then go back and out her in the house. Take her in the car and don't stop for a walk at all. Take her, stop at the end of the lane, walk her a bit, then put her back in the car, drive around, stop and walk her a few minutes, then back in the car again. In short, she's most likely whining in excitement as she associates the car with going to the park. If you vary your route/ journey/ walk time/car time, she won't know what to expect, she won't know if she's getting a walk at the end or even if she's going anywhere at all, so she should stop whining in anticipation because she won't know if there's anything to anticipate.