To allow the driver to identify a notification vibration even in a situation in which the notification vibration may be masked depending on the road conditions. A vehicle notification device (1) randomly extract one of a plurality of pieces of signal data by the number of vibrators (exciters EX1 to EX4), each of the pieces of signal data being different in a combination of an initial frequency and a target frequency and generates a plurality of sweep signals by changing the frequency from the initial frequency to the target frequency of the extracted piece of signal data in cycles. A plurality of notification vibrations whose frequencies change in different frequency ranges are outputted by outputting the generated sweep signals, individually from the vibrators (exciters EX1 to EX4).