The communication device (10) which performs, when attached to the first region of the moving body, wireless communication with the communication partner device (20) attached to the second region of the moving body includes: a motion obtaining unit (11) which obtains motion information indicating a motion of at least one region of the moving body; a parameter determining unit (12) which determines a parameter corresponding to the motion of the region of the moving body indicated by the motion information obtained by the motion obtaining unit (11), using parameter information in which the motion and a parameter indicating a communication mode for successful wireless communication are associated with each other; and a wireless communication unit (13) which performs wireless communication with the communication partner device (20) according to the parameter determined by the parameter determining unit (12).