A vehicle notification sound generation system configured to be mounted on a self-driving capable bus-type vehicle, the system comprising: a verbal speech control unit for generating a verbal speech signal about arrival of the vehicle at a destination based on travel information of the vehicle input from an automatic driving device of the vehicle; a non-verbal sound control unit for generating a non-verbal sound signal corresponding to a state of acceleration/deceleration or a state of turning of the vehicle based on behavior information of the vehicle input from the automatic driving device of the vehicle; an amplifier for generating a notification sound signal by synthesizing the verbal speech signal input from the verbal speech control unit and the non-verbal sound signal input from the non-verbal sound control unit; and a vehicle interior speaker for outputting the verbal speech about the arrival of the vehicle at the destination and the non-verbal sound corresponding to the state of acceleration/deceleration or the state of turning of the vehicle before acceleration/deceleration operation, during acceleration/deceleration, before the start of turning, or during turning of the vehicle; wherein the amplifier is configured to drive the speaker based on the generated notification sound signal; the vehicle notification sound generation system being characterized by further comprising a passenger detection device for detecting a standing passenger or a wheelchair passenger in the vehicle chamber, wherein the non-verbal sound control unit is configured to prohibit output of the non-verbal sound signal, or reduce an output gain of the non-verbal sound signal, when the passenger detection device detects no standing passenger or wheelchair passenger. a verbal speech control unit for generating a verbal speech signal about arrival of the vehicle at a destination based on travel information of the vehicle input from an automatic driving device of the vehicle; a non-verbal sound control unit for generating a non-verbal sound signal corresponding to a state of acceleration/deceleration or a state of turning of the vehicle based on behavior information of the vehicle input from the automatic driving device of the vehicle; an amplifier for generating a notification sound signal by synthesizing the verbal speech signal input from the verbal speech control unit and the non-verbal sound signal input from the non-verbal sound control unit; and a vehicle interior speaker for outputting the verbal speech about the arrival of the vehicle at the destination and the non-verbal sound corresponding to the state of acceleration/deceleration or the state of turning of the vehicle before acceleration/deceleration operation, during acceleration/deceleration, before the start of turning, or during turning of the vehicle; wherein the amplifier is configured to drive the speaker based on the generated notification sound signal; the vehicle notification sound generation system being characterized by further comprising a passenger detection device for detecting a standing passenger or a wheelchair passenger in the vehicle chamber, wherein the non-verbal sound control unit is configured to prohibit output of the non-verbal sound signal, or reduce an output gain of the non-verbal sound signal, when the passenger detection device detects no standing passenger or wheelchair passenger.