A vehicle communication device includes a plurality of transmitting and receiving sensors respectively are installed in the front and back side and the left and right side of a vehicle so as to transmit/receive driving information to/from neighboring vehicles, a left/right rotation signal detecting section detects a left or right rotation signal generated by a driver of the vehicle, a wheel angle detecting section detects a wheel rotation angle of the vehicle, a central control section transmits the driving information of the vehicle, including lane change or increase and reduction in speed, to the neighboring vehicle through the corresponding transmitting and receiving sensor, when a left or right rotation signal is detected through the left/right rotation signal detecting section, the detected wheel rotation angle of the vehicle changes more than a predetermined angle, or the detected speed of the vehicle changes more than or less than predetermined speed, and that outputs positional information of the neighboring vehicle with an alarm signal, when receiving the lane change or speed change information of the neighboring vehicle from an arbitrary transmitting and receiving sensor; and a driver information section that, when receiving the positional information of the neighboring vehicle with the alarm signal from the central control section, inform a driver of the information.