1. A method of generating a haptic signal with auditory saliency estimation from an audio signal, comprising: detecting audio characteristic information of a bass component and audio characteristic information of a treble component from a received audio signal; estimating auditory saliency with respect to the audio signal based on the two types of audio characteristic information; and calculating a tactile signal based on the auditory saliency, wherein the calculating the tactile signal includes calculating a peak pitch in the auditory saliency for each subband of the two types of audio characteristic information, calculating a perceptual magnitude of vibration of each subband in the peak pitch, and converting the perceptual magnitude into a physical vibration amplitude, and wherein the perceptual magnitude of vibration includes spectral components of each of a subband of a treble component and a subband of a bass component which are played in a vibration actuator at the same time.