Anxiety question (Social Anxiety Disorder)?

I have the worst case of anxiety known to man. I flip out when im driving in a car and cannot function at all. I have looked it up... been diagnosed with it, and have taken some medication for it. I do not have a lot of money, so i was wondering if there were alternatives to drugs that treat Social Anxiety Disorder, or also called Panic Disorder. I have gotten worse over the years and its very frustrating when i am afraid to go places and do things.

Thank you
This is not only when I'm driving, but riding in a car is worse than me driving and having control. I have no problem at home or at somewhere with a restroom. That is my only worry.