until a moment ago, I would have said no car has ever run into a submarine... but in Aug 1961 in Lysekil Sweden:

https://www.facebook.com/photo?fbid=1453546776299923&set=pcb.2215438105650065

A Volvo PV544 was parked by the telephone exchange building at Fiskaregatan (Fisher's street), near the South Harbor in Lysekil. 

The car's driver did not notice that the parking lot was sloped, and did not use the handbrake before leaving the car.

The car began to move downhill towards the sea, and after passing by a shipment of herring, it crossed the Södra-Hamngatan (Southern harbor street) and crashed into the bow of the HSwMS Bävern docked at the pier.

https://en.wikipedia.org/wiki/Collision_between_a_car_and_a_submarine