Pea Gravel would work, requires some maintenance to keep it contained, but you wouldn't have to deal with buckling that you might see in concrete or asphalt, though if properly installed both should hold up a long time even with somewhat shifty ground.

Any driveway will need excavation of topsoil and grading in order to form a properly compacted base. Gravel will require a ton more maintenance than either concrete or asphalt. There are 50 year old asphalt drives around here that are just now coming to the end of their useful life.