A large-size truck is equipped with a variety of audible warning devices. These warning devices are grouped into three categories by their usage, i.e., malfunction type, proximity type and attention type. The sound characteristics of warning sound that are investigated for each type are signal envelope, fundamental frequency and the number of harmonics. Many sounds are synthesized with nine fundamental frequencies, ten or fewer harmonics and two signal envelopes. With volume fixed, these sounds are evaluated using an unpleasantness rating scale, and the functional impression of these sound is also chosen. From the results, the range of fundamental frequencies, the number of harmonics and the shapes of signal envelopes for preferable sound quality are determined.