Avoid large areas of asphalt or concrete.
To avoid large, homogenous surfaces consider expressing joints in the paving, using modular paving, or breaking up any large areas of hard surface with a second material. Use planting to provide further visual interest.
Use appropriate landscaping and lighting to ensure good visibility for drivers and pedestrians.
This should make the driveway safe to use for all, while also contributing to amenity.
Consider how to provide for the safety of small children along the driveway and rear yard.
For example by providing pedestrian access between the street, the building and outdoor living spaces that is segregated from the driveway by a separate path and low fencing. Also ensure there is good visibility along the driveway for drivers and pedestrians and remove potential concealment spots for children.