DRIVER STATE WARNING APPARATUS, VEHICLE AND WARNING METHOD FOR DRIVER STATE

A driver state warning apparatus provides a safe and effective driving by non-contact haptic stimulus to a driver using an ultrasonic signal when the driver is in a drowsy or careless state. The driver state warning apparatus includes: a detector to obtain state information of a driver; a haptic stimulator to generate an ultrasonic beam and transmit the generated ultrasonic beam; and a controller to determine whether a state of the driver corresponds to a predetermined warning target state based on the obtained state information of the driver and provide a non-contact haptic stimulus by transmitting the ultrasonic beam toward the driver by controlling the haptic stimulator when the driver's state corresponds to the warning target state.