If there is ice on the driveway, shovel off what you can on top. Allow the shovel to slide over the ice. Get a heavy duty scraper like one in the middle in the picture below. With a good scraper the ice comes right off. Some work is involved, but not too bad. Put salt down on any remaining ice. You should have a good scraper on hand, anyway, so the expense is justified. Without the proper tool, ice is very hard to remove.
Salt does not work if it's too cold. Salt should only be applied to remaining ice once the majority has been removed.