Information to urge safety driving is outputted to a driver in dangerous areas including intersections. When a vehicle reaches near an intersection, an on-vehicle system refers to communication availability information previously stored by using a car navigation system, and recognizes whether on-vehicle communication equipment is capable of communicating with roadside communication equipment. If it is recognized that the on-vehicle communication equipment is not capable of communicating with the roadside communication equipment based on information from the car navigation system, it outputs an instruction to output safety urging information to an output device, and the output device outputs safety urging information corresponding thereto.