You can use a pre-paid credit card to book the car online, but you won't be able to present the pre-paid card to the car rental once you arrive. The operations differ between companies, but most of the companies will take an imprint of your credit card and they will not accept pre-paid credit cards in this process.
Pre-paid credit cards can also include cards that have embossed numbers on them and the words "Debit" written on the card.
The only way of payment is by a nonprepaid credit card which will be charged when you pick up your rental car. Please note that your credit card must be valid for 6 months from your return date.