Option 1: Likely fastest (but not supported by some browsers if used on Document or SVGElement) :
var elements = document.getElementById('parentContainer').children;
Option 2: Likely slowest :
var elements = document.getElementById('parentContainer').getElementsByTagName('*');
Option 3: Requires change to code (wrap a form instead of a div around it) :
// Since what you're doing looks like it should be in a form...
var elements = document.forms['parentContainer'].elements;
var matches = [];
for (var i = 0; i < elements.length; i++)
if (elements[i].value.indexOf('q17_') == 0)
matches.push(elements[i]);