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This paper proposes a new velocity guidance system with haptic HMI in the aim at realizing more ecological and smooth traffic by using information from Intelligent Transport Systems (ITS). The proposed system uses accelerator pedal reaction force as the information presentation device. The system consists of two elements mainly: the Desired Pedal Stroke Calculator (DPSC) and the Pedal Reaction Force Characteristic Controller (PRFCC). The purpose of this paper is to evaluate the effect of guidance by reaction force with Driving Simulator (DS). The experiment is carried out with six subjects who have difference in age and experience. The experimental results indicate the feasibility of drivers' operation guidance by the haptic interface with proposed pedal reaction force characteristic, and the questionnaires results show that the reaction force guidance is neither fatigable nor annoying.