Take it from someone who spent a LOT of time on the road for several years for my regular job, there are many ways to stave off fatigue so you can drive. As I mentioned, caffeine always works for me because for some reason it acts like I just took a nice bump of meth when I drink a cup of coffee or some other drink containing a healthy dose of it.
As for a 10 minute nap, forget it. Study after study has shown that sleep without reaching a REM state is not only worthless, but can actually be counterproductive. Short naps lead to what is known as "micro sleeps", nodding off for a few seconds and never realizing you've done it, and a few seconds with the cruise set at 70 is enough to wind up with a big assed mess on the highway. I had a long conversation about driving while sleepy with a grizzled old long haul trucker one night in a truck stop coffee shop where both of us were sitting because both of us were too tired to trust our driving. He claimed that a 90 minute nap was as good as 8 hours of rest when it came to recharging your driving batteries. Like you, I blew it off as so much rationalization for driving when one was too tired to be doing it, until I tried it. It didn't make me feel all fresh and rested, but I was clear and alert enough to push on another 5 hours behind the wheel when I had been looking for a motel to catch some z's and a shower before I decided to try the 90 minute catnap.