Ensuring pedestrian safety in urban environments requires a high level of situation awareness. Consequently, research on robust pedestrian alert systems utilizing Vehicle-to-Pedestrian (V2P) communication technologies through visual, auditory, and haptic interfaces has been actively progressing. Although these systems effectively prompt rapid pedestrian responses, they introduce challenges such as psychological stress and diminished reliability due to frequent false alarms. To address these issues, this study proposes an auditory notification method designed to naturally and effectively enhance early attention and situation awareness, significantly minimizing false alarms and reducing alert fatigue. Specifically, the method dynamically modulates vehicle sound frequencies to create an auditory illusion of closer proximity, directing pedestrians’ attention toward approaching vehicles without compromising the naturalness and realism of auditory experiences. Experimental evaluations, conducted by reproducing realistic urban acoustic environments in VR, showed that as the frequency shift ratio increased, pedestrians estimated collision time (Time-to-Collision, TTC) earlier and improved their acceleration estimations. These results indicate that the proposed auditory notification method can effectively enhance pedestrians’ vehicle looming perception without significantly impairing auditory realism, indicating its potential for improving pedestrian safety in urban environments.