about the english grammar

Drive on the road, that is a complete sentence already, but if you prefer to use driving: While driving on the road, I can see a lot of cars. That sounds better. it's a different thought if you use the verb as another thing..

yes you can

As long as there is a subject and a predicate, it's a complete sentence. No matter where you place them or arrange them (even how long they are),the thought and sense should be complete. A verb can usually function as a predicate alone. This is exemplified by the example - I drive a Corvette. The subject is I and the predicate begins with the phrase 'drive a Corvette'. technically, drive is the word and the essential predicate. "a corvette' is only an addendum that gives sense to the whole sentence. On the example you provided, the simple tense of the verb is correct. using 'driving' or the particle kind means that the action is continuing or you're already doing the action when we speak about it. .

Drive on the road, I can see a lot of cars is not a complete sentence. The following examples would be appropriate sentences: When I drive on the road, I can see a lot of cars. While driving on the road, I can see a lot of cars.

Drive on the road, I can see a lot of cars is so wrong in so many levels and yes you should start it with driving. blah blah,