It started a long time when the interstate system was being built. There were long roads that drove through parks. So they called started calling these roads parkways. Usually parkways are landscapes of trees and other outdoors objects. It is a very scenic route.
People used to have long driveways, so you did actually have to drive up them.
So parkways and driveways have to different meanings, but it does sound as though it should be the other way around. Good question though. I am a George Carlin fan myself.