The linked articles below will give you some ideas. It may be possible to have the downspout discharge on your lawn as opposed to your driveway. This will still create ice, but it will be and a less hazardous location. It is possible to bury the downspouts and have them lead to a French drain, however, unless the downspouts are below the frost line, they will often freeze solid below grade. The least expensive solution may be to reslope your gutters (eavestroughs) and relocate the downspout to a more desirable location.