I've made a 100% self-contained code to test this. Just copy-paste it and run it (after running npm install sequelize sqlite3):

const Sequelize = require("sequelize");
const sequelize = new Sequelize({ dialect: 'sqlite', storage: 'db.sqlite' });

const Driver = sequelize.define("Driver", {
    name: Sequelize.STRING
});
const Car = sequelize.define("Car", {
    make: Sequelize.STRING,
    model: Sequelize.STRING
});
const DriverCar = sequelize.define("DriverCar", {
    color: Sequelize.STRING
});
Driver.belongsToMany(Car, { through: DriverCar, foreignKey: "driverId" });
Car.belongsToMany(Driver, { through: DriverCar, foreignKey: "carId" });

var car, driver;

sequelize.sync({ force: true })
    .then(() => {
        // Create a driver
        return Driver.create({ name: "name test" });
    })
    .then(created => {
        // Store the driver created above in the 'driver' variable
        driver = created;

        // Create a car
        return Car.create({ make: "make test", model: "model test" });
    })
    .then(created => {
        // Store the car created above in the 'car' variable
        car = created;

        // Now we want to define that car is related to driver.
        // Option 1:
        return car.addDriver(driver, { through: { color: "black" }});

        // Option 2:
        // return driver.setCars([car], { through: { color: "black" }});

        // Option 3:
        // return DriverCar.create({
        //     driverId: driver.id,
        //     carId: car.id,
        //     color: "black"
        // });
    })
    .then(() => {
        // Now we get the things back from the DB.

        // This works:
        return Driver.findAll({ include: [Car] });

        // This also works:
        // return car.getDrivers();

        // This also works:
        // return driver.getCars();
    })
    .then(result => {
        // Log the query result in a readable way
        console.log(JSON.stringify(result.map(x => x.toJSON()), null, 4));
    });

上面的代码按预期记录(至少如我所料):

[
    {
        "id": 1,
        "name": "name test",
        "createdAt": "2018-03-11T03:04:28.657Z",
        "updatedAt": "2018-03-11T03:04:28.657Z",
        "Cars": [
            {
                "id": 1,
                "make": "make test",
                "model": "model test",
                "createdAt": "2018-03-11T03:04:28.802Z",
                "updatedAt": "2018-03-11T03:04:28.802Z",
                "DriverCar": {
                    "color": "black",
                    "createdAt": "2018-03-11T03:04:28.961Z",
                    "updatedAt": "2018-03-11T03:04:28.961Z",
                    "driverId": 1,
                    "carId": 1
                }
            }
        ]
    }
]