I agree with PP. Ask her once or twice, but if she doesn't help, then the most you can do is not travel with her anymore. In the future, I would start the trip with a full tank, and then fill up right before you drop her off. This way, she's only paying half of the gas that was used on the trip, and can't say anything.
I hate when people assume that you're going to cover gas because it's your car. When I travel with my mom, I don't always cover gas IF she's going with or without me (since she'd be using it anyway), but at the very least, I will definitely buy her lunch on the road and pay for the tolls. When we take my car, it's the same idea - I cover the gas, she covers food/ tolls.