Disclosed is a communication apparatus for a vehicle, including: an interface unit configured to receive sensing information regarding a first other vehicle located in a vicinity of the vehicle and incapable of performing vehicle-to-vehicle communication; a transmitter configured to transmit information to a second other vehicle capable of performing vehicle-to-vehicle communication; and a processor configured to generate recognition information for the first other vehicle based on the sensing information, and transmit the recognition information for the first other vehicle to the second other vehicle through the transmitter.