1) if they're entering your property without your permission, that is trespassing. If they've been doing it for ~15 years, you probably have a good case for reasonable damages worth more than 8 minutes of a courts time. You can start collecting evidence, sending a certified letter to the business requesting they stop delivery, and bring a lawsuit against the company. The courts are obligated to follow the law, and if your jurisdiction is like mine (WA State), you can sue for reasonable costs--investigation, 15-years worth of trash delivery (what is that like 10 garbing bins worth?) attorney fees, and ask for punitive damages (15 years of this behavior is clearly a nuisance, and you will likely find a sympathetic judge/magistrate). Of course, just because you get a judgement in your favor does not mean you will easily be able to collect. So that leads me to
2) They are also illegally littering on your property, which is a crime, and of which you can involve the police. As others have noted, this is a low priority offense to the police, but you can collect evidence (video recording of them doing it), and a certified letters requesting they stop. Armed with that evidence, you should be able to request the police to come and fine the driver for doing so. The police won't respond right away, but with enough persistence on your part they will. Depending on your jurisdiction, you could also elicit the help of your local city/county councilperson to get the police to take action sooner.