That thing about rich parents isn't true. For sure, it does help alot, and many of the drivers out there has or has had rich parents... But, giving up "just" because your parents isnt rich is bullsh*t...
One good example is the Swedish driver Kenny Bräck, I dont know if you have heard about him, but he drives in CART nowdays... And he started with nothing, his parents werent rich at all and he didnt know anyone who was involved in racing... But he just didnt give up, and he fought his way up through his carrier... And he has taken alot of controversial desicions, he got an F1-test offer from Benneton, but when it dint suit him, they didnt really care about him, he choose another road to find a team that really did care.
But enough glorifying his carrier, you can make your way up through motorracing without rich parents or things like that...
But one thing that you cannot make it without is talent. No matter how mutch you want it, you must be able to drive a car fast around a track