A wireless communication device for vehicles, which is used in a vehicle and is able to designate a plurality of service channels, includes a first wireless receiver, a second wireless receiver, and a reception control unit. The first wireless receiver designates, as a reception channel, a service channel identified from the service channels based on a kind of a service, and receives service execution information to execute the service. The second wireless receiver designates, as a reception channel, a control channel having a frequency channel different from those of the service channels, and receives service announcement information containing channel information. The reception control unit causes the first wireless receiver to set the reception channel based on the channel information contained in the service announcement information received by the second wireless receiver.