yes the main beam is right for driving lights, by law they must be dipped all the time (which makes them a bit usless) or only come on with the main beam.
Just checked the wiring diagram out; the right full beam is green, and the left is green and black, if you use these wire thay are after the fuse box. it would be better to use the dark blue between the main beam relay and the fuse box to switch your relay, then use the number 6 fuse for your driving lights.