There is provided a driving companion comprising: a microphone to detect utterances from at least one occupant of a vehicle; and a natural language understanding system comprising: a disentanglement module configured to: receive a current utterance detected by the microphone; determine a historical sub-sequence comprised in historical utterances that has a highest probability of relevance to the current utterance; merge the determined historical sub-sequence with the current utterance, thereby providing a context-dependent current utterance; and a classification layer configured to classify the context-dependent current utterance into a predetermined category for the driving companion to determine an appropriate action responsive to the classified category. There is also provided a method of training a natural language understanding system of a driving companion to determine appropriate actions.
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