Disclosed are a vehicle lighting device, and an invisible light projection device comprising the vehicle lighting device. The vehicle lighting device comprises a light source, a rotary actuator, a light distribution element and a controller. The light source is mounted on a rotating shaft of the rotary actuator and the controller is adapted to control a light-emitting state of the light source creating different light forms. The vehicle lighting device creates a range of light distribution with less light sources, and has good heat dissipation capability. The invisible light projection device comprises a light source of an invisible light-emitting element, the rotary actuator, and the controller, which is adapted to control the light-emitting state of the invisible light-emitting element at different rotation positions creating light distribution of invisible light. The invisible light projection device can carry out invisible light irradiation on a dark area of vehicle lighting, improving vehicle safety.