Great answers above, and price is going to vary tremendously with where you live. Some areas will require a building permit, some areas will not, etc.
If you're crazy, and have access to two things: transportation to take loads of broken up concrete, place to take the broken concrete, you might be able to do the demo of the old driveway yourself. Back-breaking work, busting up the concrete, picking up the chunks, and hauling them away. But doing so by hand would (provided the ground hasn't heaved since the driveway was originally put in) take care of 90% of the grading/sub surface work. Have you seen places with signs that say "clean fill wanted"? That means they don't want wood or other organic materials, or garbage - rocks, concrete, asphalt, dirt ,etc. is what they want. If so, you have a free place to take the debris to. You can rent a jackhammer at rental places; I think Home Depots rent them too. Or, one hell of a sledge hammer (post maul) if you're nuts. Then, you just need to do a little digging around the outside for placement of the frame, a load or two of crushed limestone to make up for what was stuck to the underside of the concrete, etc.
