Problem: To provide an autonomous driving indication system that allows a pedestrian or another vehicle to clearly discriminate driving states of an autonomous driving vehicle and provide a vehicle communication system capable of sending an appropriate message to a pedestrian from a vehicle according to the probability of the pedestrian crossing the road.
Means to Solve the Problem: Left and right headlamps (3) are each provided with a first communication lamp (6) and a second communication lamp (7) for indicating an autonomous driving state of a vehicle (1). The first and second communication lamps (6) and (7) are each comprised of a plurality of light emitting segments, and each light emitting segment is caused to flash by a lamp ECU. When flashing the light emitting segments, the lamp ECU controls the change in the brightness of the light emitting segments according to the driving state of the vehicle. A vehicle ECU or the lamp ECU is provided with a probability computing unit for calculating the probability that a pedestrian will cross the road, and a control unit for switching the light output of light emitting segments individually or in unison according to the probability.