How to stop "I'm driving" notification on my iPhone?

How can I stop the “I’m Driving” notification to anyone who texts me while I’m in my car?I have tried many different ways to stop it but it continues. It is especially annoying when I’m on a text thread with several people and whoever sends a text to everyone that one person gets…

-I’m Driving notification. HELP!

[Re-titled by Moderator]