A method for providing a vehicle sharing service, the method being performed by a vehicle sharing server and a vehicle terminal mounted on a shared vehicle, wherein the vehicle sharing server is interworking with the vehicle terminal through a communication network, the method comprising: determining, by the vehicle terminal, whether there is a toll gate ahead based on navigation information while driving; when there is the toll gate ahead as a result of the determination, receiving, by the vehicle sharing server, a driver verification request message including the vehicle identifier from the vehicle terminal; identifying, by the vehicle sharing server, a current driver based on reservation setting records of the shared vehicle corresponding to the vehicle identifier; transmitting, by the vehicle sharing server, a driver verification response message including the identified current driver information to the vehicle terminal; outputting, by the vehicle terminal, a driver verification pop-up window for verifying whether the driver identified by the vehicle sharing server is correct on one side of a navigation screen; when it is verified that the driver identified by the vehicle sharing server is correct, transmitting, by the vehicle terminal, a driver verification complete message indicating that the identified driver is a current driver to the vehicle sharing server; obtaining, by the vehicle terminal, toll fee payment complete information from a hi-pass terminal, mounted on the shared vehicle and connected with the vehicle terminal, after payment between a terminal of the toll gate through which the shared vehicle passes and the hi-pass terminal is completed; receiving, by the vehicle sharing server, a toll fee settlement request message including a vehicle identifier corresponding to the shared vehicle and information about the toll fee, payment of which is completed, from the vehicle terminal; adding, by the vehicle sharing server, the toll fee, the payment of which is completed, to a usage fee of the identified driver account; and transmitting, by the vehicle sharing server, a toll fee settlement complete message including information about the added toll fee and information about the usage fee after being added to the vehicle terminal. determining, by the vehicle terminal, whether there is a toll gate ahead based on navigation information while driving; when there is the toll gate ahead as a result of the determination, receiving, by the vehicle sharing server, a driver verification request message including the vehicle identifier from the vehicle terminal; identifying, by the vehicle sharing server, a current driver based on reservation setting records of the shared vehicle corresponding to the vehicle identifier; transmitting, by the vehicle sharing server, a driver verification response message including the identified current driver information to the vehicle terminal; outputting, by the vehicle terminal, a driver verification pop-up window for verifying whether the driver identified by the vehicle sharing server is correct on one side of a navigation screen; when it is verified that the driver identified by the vehicle sharing server is correct, transmitting, by the vehicle terminal, a driver verification complete message indicating that the identified driver is a current driver to the vehicle sharing server; obtaining, by the vehicle terminal, toll fee payment complete information from a hi-pass terminal, mounted on the shared vehicle and connected with the vehicle terminal, after payment between a terminal of the toll gate through which the shared vehicle passes and the hi-pass terminal is completed; receiving, by the vehicle sharing server, a toll fee settlement request message including a vehicle identifier corresponding to the shared vehicle and information about the toll fee, payment of which is completed, from the vehicle terminal; adding, by the vehicle sharing server, the toll fee, the payment of which is completed, to a usage fee of the identified driver account; and transmitting, by the vehicle sharing server, a toll fee settlement complete message including information about the added toll fee and information about the usage fee after being added to the vehicle terminal.