A terminal device comprising: a radio resource control unit that configures a first resource for first transmission of first information for scheduling a physical channel, the first information being scheduling information, the physical channel being used for transmitting device-to-device, D2D, data to a second terminal device, a second resource for second transmission of second information, the second information being the D2D data, a third resource for third transmission of a first synchronization signal and third information, the third information being first control information for controlling transmission of the first synchronization signal, wherein the first control information indicates a first frame number and the first synchronization signal includes a first primary D2D synchronization signal, PD2DSS, and a first secondary D2D synchronization signal, SD2DSS, and a fourth resource for fourth transmission of a second synchronization signal and fourth information, the fourth information being second control information for controlling transmission of the second synchronization signal, wherein the second control information indicates a second frame number and the second synchronization signal includes a second PD2DSS, and a second SD2DSS; and a D2D control unit that configures a first parameter for setting a first cyclic prefix length for the first transmission, a second parameter for setting a second cyclic prefix length for the second transmission, and a third parameter for setting a third cyclic prefix length for the third transmission and for the fourth transmission, the third cyclic prefix length is common to the third transmission and the fourth transmission. a radio resource control unit that configures a first resource for first transmission of first information for scheduling a physical channel, the first information being scheduling information, the physical channel being used for transmitting device-to-device, D2D, data to a second terminal device, a second resource for second transmission of second information, the second information being the D2D data, a third resource for third transmission of a first synchronization signal and third information, the third information being first control information for controlling transmission of the first synchronization signal, wherein the first control information indicates a first frame number and the first synchronization signal includes a first primary D2D synchronization signal, PD2DSS, and a first secondary D2D synchronization signal, SD2DSS, and a fourth resource for fourth transmission of a second synchronization signal and fourth information, the fourth information being second control information for controlling transmission of the second synchronization signal, wherein the second control information indicates a second frame number and the second synchronization signal includes a second PD2DSS, and a second SD2DSS; and a D2D control unit that configures a first parameter for setting a first cyclic prefix length for the first transmission, a second parameter for setting a second cyclic prefix length for the second transmission, and a third parameter for setting a third cyclic prefix length for the third transmission and for the fourth transmission, the third cyclic prefix length is common to the third transmission and the fourth transmission.