An apparatus for providing a notification for transferring control authority from a vehicle to a driver of the vehicle while autonomous driving is performed, the apparatus comprising: a speaker configured to output a sound notification; a vibration motor configured to output a vibration notification; and a control circuit electrically connected to the speaker and the vibration motor and configured to: output a first notification using the speaker during a first time interval, when a situation to hand over the control authority for the vehicle from the vehicle to the driver of the vehicle occurs; output a second notification using the speaker and the vibration motor during a second time interval, when the control authority is not handed over from the vehicle to the driver of the vehicle after the first time interval elapses; output a third notification using the speaker and the vibration motor during a third time interval, when the control authority is not handed over from the vehicle to the driver of the vehicle after the second time interval elapses; and adjust a length of at least one of the first time interval, the second time interval, or the third time interval based on at least one of a speed of the vehicle, traffic in a road where the vehicle is traveling, or a lane recognizing quality value when the situation to hand over the control authority for the vehicle from the vehicle to the driver of the vehicle occurs. a speaker configured to output a sound notification; a vibration motor configured to output a vibration notification; and a control circuit electrically connected to the speaker and the vibration motor and configured to: output a first notification using the speaker during a first time interval, when a situation to hand over the control authority for the vehicle from the vehicle to the driver of the vehicle occurs; output a second notification using the speaker and the vibration motor during a second time interval, when the control authority is not handed over from the vehicle to the driver of the vehicle after the first time interval elapses; output a third notification using the speaker and the vibration motor during a third time interval, when the control authority is not handed over from the vehicle to the driver of the vehicle after the second time interval elapses; and adjust a length of at least one of the first time interval, the second time interval, or the third time interval based on at least one of a speed of the vehicle, traffic in a road where the vehicle is traveling, or a lane recognizing quality value when the situation to hand over the control authority for the vehicle from the vehicle to the driver of the vehicle occurs. output a first notification using the speaker during a first time interval, when a situation to hand over the control authority for the vehicle from the vehicle to the driver of the vehicle occurs; output a second notification using the speaker and the vibration motor during a second time interval, when the control authority is not handed over from the vehicle to the driver of the vehicle after the first time interval elapses; output a third notification using the speaker and the vibration motor during a third time interval, when the control authority is not handed over from the vehicle to the driver of the vehicle after the second time interval elapses; and adjust a length of at least one of the first time interval, the second time interval, or the third time interval based on at least one of a speed of the vehicle, traffic in a road where the vehicle is traveling, or a lane recognizing quality value when the situation to hand over the control authority for the vehicle from the vehicle to the driver of the vehicle occurs.