I have a heavy vehicle parked on my asphalt driveway and I know that the copper supply line from the street is directly under it. I assume buried below the frost line in Illinois.

Is that pipe effected by the weight of vehicles parked on or driven over the asphalt driveway?

i'm a plumber not an engineer BUT..
if you took an upside down pyramid so the point was sitting on the pipe and parked your vehicle on the wide part of that pyramid, i would guess the weight on the pipe would be tremendous.
but the weight of your vehicle is dispersed over such a wide area that it can do no harm.

just my humble opinion.

not if the pipe has been properly installed

i would not worry as it 'should' be 3+ feet deep

(unless the driveway itself actually sinks)

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"Measure Twice & Cut Once" - Retired U.A. Local 1 & 638

I am guessing you could run the truck over the pipe ON TOP OF THE GROUND without damaging it, if it is the correct size and type.

In simple engineering land, the load from the truck's tires is dispersed at an approximate 2 to 1 angle away from the tire/asphalt contact point. At 3 foot depth, the load is distributed to a 3' wide area.