It is possible to further suppress emergence of a half duplex (HD) problem in inter-device communication such as V2X communication. A communication device includes: a communication unit (220) that performs wireless communication; an acquisition unit (243) that acquires first information from a first communication device via the wireless communication, the first information being information regarding a transmission condition of data using a communication mode of switching transmission and reception in a time division manner to perform the inter-device communication; and a control unit (241) that controls an operation related to reception of data transmitted from the first communication device according to the first information.