A Sydney Uber driver stopped at a petrol station to buy condoms and a bottle of water before he allegedly raped a sleeping woman in the back seat of his car, a court has head.

Muhammad Naveed, 41, is on trial in the Downing Centre District Court accused of raping the woman after he picked her up near The World Bar in Kings Cross in the early hours of October 18, 2015.

Muhammad Naveed arrives at Sydney's Downing Centre. Credit:Kate Geraghty

In his opening address, Crown prosecutor James Trevallion told the jury he expected the woman would give evidence that Mr Naveed helped her into the back of his car and she later woke up and found him on top of her.

Mr Naveed has pleaded not guilty, and the court heard that, in an interview with police, he claimed he had asked the woman if she wanted to have sex and she agreed.