An on-vehicle alarm generation method and an on-vehicle alarm generation apparatus for notifying a driver to be aware of safe driving by detecting a passerby or a bicycle moving at a dangerous point and generating an alarm to the driver are provided. In one aspect, the on-vehicle alarm generation method for detecting a passerby and generating an alarm to a driver includes the steps of including a dangerous driving point in map data and detecting the vehicle position; monitoring whether the vehicle approaches the dangerous driving point; transmitting a searching signal when the vehicle approaches the dangerous driving point; monitoring whether, in response to the searching signal, a responsive signal is received from a mobile device carried by the passerby; and generating an alarm to the driver upon receiving the responsive signal.