A method of operating a first wireless communication device to perform D2D discovery includes obtaining multiple discovery message detection results, and determining a D2D discovery status of a second wireless communication device based on the multiple discovery message detection results. Using multiple discovery message detection results to determine the D2D discovery status of the second wireless communication device significantly increases the reliability of D2D discovery, thereby increasing the likelihood that a device available for D2D communication will be detected, while reducing the likelihood of false detections.