I'm surprised no one has answered this!
Yes, I listen to music when I drive, some of the time. If it's a really long trip, I may take one of my tapes along. There are a couple of radio stations that I listen to that I know are good. The only time I find it antagonizing are when A) the lame-o commercials come on that seem geared at an IQ of 85 and/or B) the jerky DJ's air their inane comments and then laugh at their own "cleverness." I either tune to another station when that happens, or turn off the squawk box altogether and enjoy the silence for awhile.
AFAIK, listening to music has not affected my driving one iota. It's an interesting question you raise, though. I wonder how many people it actually does. Me, I'm more worried about those with cell phones hanging out their ears.
Cheers,