A vehicle invisible and visible light projection device, comprising a light source, a rotary actuator, a light distribution element and a controller, the light source is mounted on a rotating shaft of the rotary actuator, and the controller is adapted to control a light-emitting state of the light source to create different light shapes; the light distribution element is arranged at an area in proximity to the light source, the light source comprises a plurality of independently controllable light-emitting units and invisible light-emitting elements, the light distribution element is adapted to converge light emitted by the light-emitting units and the invisible light-emitting elements; the controller is electrically connected to the light-emitting units, the invisible light-emitting elements and a rotary actuator, and the controller is capable of controlling light-emitting states of the light-emitting units at different rotation positions to create light distribution of visible light; the controller is capable of controlling light-emitting states of the invisible light-emitting elements at different rotation positions to create light distribution of invisible light; wherein the light distribution element is a condenser arranged in a light emergent surface area of the light-emitting units and the invisible light-emitting elements, the condenser comprises a light incident surface and a light emergent surface, the light incident surface of the condenser is adapted to introduce light emitted by the light-emitting units and the invisible light-emitting elements, and light converged by the condenser is adapted to be emitted from the light emergent surface of the condenser; the condenser is a strip-like transparent device with a cross section in the shape of an isosceles trapezoid, a surface on which an upper base of the isosceles trapezoid is located is the light incident surface of the condenser, and a surface on which a lower base of the isosceles trapezoid is located is the light emergent surface of the condenser. the light distribution element is arranged at an area in proximity to the light source, the light source comprises a plurality of independently controllable light-emitting units and invisible light-emitting elements, the light distribution element is adapted to converge light emitted by the light-emitting units and the invisible light-emitting elements; the controller is electrically connected to the light-emitting units, the invisible light-emitting elements and a rotary actuator, and the controller is capable of controlling light-emitting states of the light-emitting units at different rotation positions to create light distribution of visible light; the controller is capable of controlling light-emitting states of the invisible light-emitting elements at different rotation positions to create light distribution of invisible light; wherein the light distribution element is a condenser arranged in a light emergent surface area of the light-emitting units and the invisible light-emitting elements, the condenser comprises a light incident surface and a light emergent surface, the light incident surface of the condenser is adapted to introduce light emitted by the light-emitting units and the invisible light-emitting elements, and light converged by the condenser is adapted to be emitted from the light emergent surface of the condenser; the condenser is a strip-like transparent device with a cross section in the shape of an isosceles trapezoid, a surface on which an upper base of the isosceles trapezoid is located is the light incident surface of the condenser, and a surface on which a lower base of the isosceles trapezoid is located is the light emergent surface of the condenser.