If you are scared of driving, like a morbid fear, dont drive.
I hate people who are afraid to drive and end up nearly causing accidents because of their unpredictable braking and swerving.
Learn to get over it and drive, or not drive, because there are no other way. If you are afraid to sing, and you go on stage to sing without learning to control your fears, what do you think will happen? Mess up or do a good job?
Save yourself some grief and learn to control your fears, get consoling or whatever, so you don't crash and permanently scar yourself.
When I was 8 years old, I ran out into the middle of the street across from my school and I got raped by a bike so bad I broke my arm; I have friends that have hurt badly and died from car accidents, I have scene accidents where people were pretty much crushed to nothing but a pancake. I have never gotten scared of driving or biking... and I am not fearless lol, I get too scared to sleep after I watch horror movies.
Sorry to be so harsh

But the world isnt a sugar candy.
If it makes you feel better, when I drive past ghetto area's I get so scared and tense my back hurts cuz I'm basically sitting straight up in my car seat lol.