It sounds like a serious situation. You might try to avoid driving as much as possible. If you must drive to work, maybe you could go in early to avoid rush hour.
First option would be talk to your psych again and ask about ramping up doses or adding other meds. If you have done that then you could use techniques that might help ignore voices.
Following the breath (the mind only can focus on one thing at a time so if you are doing this you can more easily ignore the voices - also do not answer the voices - just label them voices, voices or thoughts thoughts)
On the inhale count 1
On the exhale count 2
proceed up to 10 (3,inhale, 4 exhale) unless you get off count and then return to 1 (this is only a tool - no self condemnation please)
Over time allow your breath to deepen into your belly and be more relaxed and effortless. Do this for 5-10 minutes or as long as needed to calm down.
Exercise is a great way to reclaim control when the mind is getting wild.
Yoga for complete beginners
Walking
Calisthenics
Yard work and chores
Whatever gives you a point of focus.
When we stop running from our "voices" and turn and face them without fear and just look them in the eye, if they threaten, then tell them with authority they must leave.
A support group or therapist could help you work through this also
There are several other forums at PC that are similar.
Thank you for sharing your story.