You need to see a tax attorney and get this mess straightened out. I assume you've not filed the returns because if you had, you'd know the extent of what you owe. As a result, bankruptcy won't help you because the taxes won't be dischargeable until a few years after returns are filed. Given the kind of money you are making and the pattern of not filing, there is some risk of criminal prosecution should the IRS discover this problem before you file returns. That's one reason you ought to see a tax attorney first—you may need the benefit of the attorney client privilege here. The attorney can help you engage a CPA for return preparation and, done correctly, that will also get the benefit of the attorney-client privilege since it being done under the umbrella of the legal representation.
If you file accurate returns before you have notice that the IRS is investigating you, that will resolve the risk of criminal prosecution so long as you are not taking other steps to evade taxes or hide assets from the IRS. But you will need to make arrangements to pay it off. Filing the returns and making the arrangements to pay will also save you money on the interest and penalties that are now accruing on the liability. Your first priority in making payments is to ensure that you make your 2010 estimated taxes on time and in the correct amounts so that you put an end to the cycle of accumulating tax liabiities year after year.
You also ought to see a finacial consultant, IMO. With your kind of income, having just $5K in savings and a car suggests that you are not wisely using your money.
Without more details on your financial situation, there is not much more I can tell you. But it is important that you start taking your tax responsibilities seriously and see a tax attorney for help.