1. A computer-implemented method comprising: generating a spectral signature describing one or more dynamic objects and a scene layout of a current road scene; identifying, from among one or more scene clusters included in a familiarity graph associated with a user, a road scene cluster corresponding to the current road scene; determining a position of the spectral signature relative to other spectral signatures comprising the identified road scene cluster; generating a familiarity index estimating familiarity of the user with the current road scene based on the position of the spectral signature; determining an assistance level based on the familiarity index of the user; and providing one or more of an auditory instruction, a visual instruction, and a tactile instruction to the user via one or more output devices of a vehicle at the determined assistance level.