According to an embodiment, a vehicle driving assistance device mounted in a vehicle comprises: a memory for storing an identification of a vehicle; a visible light communication unit for modulating the identification stored in the memory, and outputting the modulated identification through visible light; and a processor for activating the visible light communication unit when the vehicle enters a parking lot entrance gate, and performing control such that the visible light including the identification of the vehicle is outputted according to the activation of the visible light communication unit.