A vehicular wireless communication apparatus is disposed in a subject vehicle to establish vehicle-to-vehicle communication between the subject vehicle and other vehicles having the apparatus. The apparatus of the subject vehicle receives sensor state information from an immediate following vehicle. Based on the sensor state information, the apparatus of the subject vehicle controls a transmission cycle of the information transmitted. A longer interval is selected when the immediate following vehicle has a range sensor and the range sensor successfully detects an obstacle in front of it. A standard interval, shorter than the longer interval, is selected when the immediate following vehicle does not have the range sensor or when the immediate following vehicle has the range sensor but the range sensor failed to detect the obstacle. Therefore, the transmission cycle is dependent upon the need of the information while preventing congestion of information transmission.