To make a notification to the driver so that the driver can distinguish or recognize the notification. A vehicle notification device (1a) inputs a first sweep signal whose frequency is changed in a predetermined frequency range, to a vibrator (4), calculates frequency characteristics of a vibration in the vehicle interior, detects a frequency range in which the signal level of vehicle-travel-time frequency characteristics is higher than the signal level of vehicle-stop-time frequency characteristics by a predetermined level amount or more, generates a second sweep signal whose frequency is changed in a range obtained by excluding the detected frequency range from the predetermined frequency range of the first sweep signal, and outputs the second sweep signal from the vibrator (4).