Extra... for the Long Drive!
I would not make the long drive down Chain of Craters Road just to experience these images. Fortunately, the variety of points of interest along this 40+ mile out/back route more than justifies the drive. This very short hike will be just one of the many stops you will enjoy on the day's outing.
The stop off is at the trailhead for the eastern end of the Puna Coast Trail, just across the road; you could plan on parking and doing a bit of both...Or, for a more exotic adventure, get dropped off up above and hike the longer miles across the barren lava scape a 15-17 mile, mostly downhill hike that should put you well off and away from the crowds. Those trails usually support multi-day backpackers, But should make for an exceptional, longer one day trek... assuming you can set up to be picked up down at the Petroglyphs!
Chain of Craters Road eventually terminates in the huge lava shield that covers the eastern end of the park. If the Rangers have confirmed an active lava flow in the park it would likely be off and away from the end of Chain of Craters road... off trail over a barren lava field. Another Potential Adventure?
So... if you are heading down the road, do not miss the extra show of theses ancient rock art!
Check out the Official Route and Triplogs.