hard to tell form here but assume this is the outlet end of the drain system so your heading towards daylight down the driveway somewhere
how deep is the pipe?
That corrugated plastic drain pipe cannot support much load, if it's close to the surface & you have a good choise of driving on it again might be advisable to switch to SCH 40 or even SCH 80 PVC in the locations that are likely to be damaged.
if the pipe is REAL close to the edge you might be able to tuck it under the driveway to protect it.......but now the edge of the driveway has less support
i think I'd go w/ PVC, unless your vehicles are real haevy weights that should do it
If you want ot do it cheaper consider ABS. Maybe a little crush test is in order
cheers Bob