Struggling with Panic Attacks When Driving

I have a simular situation, I dont have my licence yet because every time I try to take the drivers test I start getting major anxiety. I think it was from my first attempt and I almost caused a car crash because of the other dirvers poor communication skills. Now days Its hard to drive to practice more to "feel more comfertable behind the wheel" but each time I force myself to drive but I can feel my heart racing and I start feeling like im floating. I need to leaen to drive so i can go to work and earn money for college but its hard to when I cant focus.