A new kind of LED communication device, by which the receiver can measure the distance and angle to the sender, is proposed. In this article, we propose a cooperative positioning method using such LED communication devices to estimate vehicle positions with high accuracy. In the method, we assume that signals which can transmit own position information are deployed and the vehicles equip headlights and taillights that have a function of LED communication transmitter, and hold image sensors for reception of LED communication. The results of estimation will propagated to the surrounding vehicles and they estimate their positions by using the information.