In a radio communication system, a first radio communication station transmits a radio signal including information for designating a condition for a radio communication counterpart. A second radio communication station which receives the radio signal transmitted by the one radio communication station, and transmits a response radio signal when a situation of the second radio communication station meets the condition designated by the information included in the radio signal. The condition for a radio communication counterpart is whether the radio communication counterpart moves, and the second radio communication station transmits the response radio signal when the second radio communication station meets the condition that the radio communication counterpart moves.