There are ways to stay awake while driving. I’ve done some of them. Coffee is one. Chewing gum is another. This video explains why and how those two methods work, plus offers other suggestions.
At the end there’s a statistic that gives one pause. Falling asleep at the wheel is not uncommon. It doesn’t hurt to have a few tricks for a road trip, but also is a reminder that pulling over to take a nap is not the worst option. In that case, it seems that being parked at a rest stop would feel more restful than being parked at a fast food or gas station parking lot. Consider that Virginia.
If you do stop at a rest stop to take a nap, make sure you are alert before you take off otherwise you might forget something.