[Object] To provide a communication device that enables degradation in the quality of communication between a base station device and a terminal device to be avoided when a sidelink channel is set.[Solution] There is provided a communication device including: a control unit configured to allocate a predetermined gap to a boundary of a resource of a channel to be used in inter-device communication with a resource other than the resource of the channel in a communication system in which signals from different transmission sources are mixed and placed.