A driving assistance system and method for providing driving condition information to a driver via a seat with a haptic signal. A set of state signals of the vehicle with respect to a lane on the road is generated. The set of state signals include at least a lateral position signal that indicates a lateral positional relationship of the vehicle with respect to the lane and a heading angle signal that indicates a heading angle of the vehicle with respect to the lane. A haptic signal is generated based on the set of state signals to convey information regarding the lateral positional relationship of the vehicle with respect to the lane and the heading angle of the vehicle with respect to the lane.