This book proposes promising mmWave solutions to promoting safe and reliable vehicular communications. The authors include topics such as channel estimation, multi-user transceiver design, and advanced index modulation. For channel estimation, unique channel properties and hybrid structures are first introduced, followed by the development of a doubly-sparse doubly-selective channel estimator. For multi-user transceiver design, the concept of hybrid block diagonalization (HBD) is first introduced, followed by a generic HBD-based transceiver design to maximize the system capacity. For advanced index modulation, the generalized beamspace modulation for uplink multi-user scenarios are first introduced, followed by the precoded beamspace modulation for the downlink. Finally, this book discusses open problems and future research directions to inspire further studies in the field of mmWave vehicular communications.