A notification device includes a calculation unit calculating, based on a speed of a vehicle, a vehicle stoppage distance by which the vehicle travels until the vehicle enters a stopped state while performing autonomous driving, a notification unit performing notification about information with respect to an outside of the vehicle, and a notification controller causing the notification unit not to perform notification about information indicating that the vehicle is in the middle of deceleration until the vehicle passes by a first soon-to-cross pedestrian and to cause the notification unit to perform notification about the information after the vehicle passes by the first soon-to-cross pedestrian when a distance between the vehicle and the first soon-to-cross pedestrian is smaller than the vehicle stoppage distance and a distance between the vehicle and a second soon-to-cross pedestrian is equal to or greater than the vehicle stoppage distance.