A lighting device for a vehicle, the lighting device including: a lens; a light source device configured to emit light; a first reflection unit configured to reflect light emitted from the light source device toward a second side of the lens; a reflective phosphor configured to (i) convert a wavelength of light reflected by the first reflection unit and (ii) reflect light which wavelength is converted toward the lens; a second reflection unit configured to reflect a portion of light that is reflected by the reflective phosphor toward the second side of the lens; a sensing unit configured to sense light reflected by the second reflection unit; and a controller configured to control the light source device based on sensing information sensed by the sensing unit, is disclosed.