Abstract: A driving assistance method for an autonomous vehicle requests an occupant in the host vehicle to approve passage through an intersection and, upon receiving approval from the occupant, controls the host vehicle to pass through the intersection. The method comprises detecting a situation at an intersection where the host vehicle is approaching; determining whether or not the host vehicle will need to make a temporary stop at the intersection, based on the detected situation at the intersection; and if it is determined that a temporary stop will be needed, delaying the timing to request the occupant to approve passage through the intersection as compared to the timing that would be used if it was determined that a temporary stop would not be needed.