A communication device (100C, 200C) comprising: a communication unit configured to perform wireless communication; and a control unit configured to acquire information regarding a communication quality of one or more radio links including at least one of a direct first radio link or a second radio link via a relay terminal, which is configured to be movable, between a remote terminal and a base station, and to switch the radio link to be used in communication between the remote terminal and the base station on a basis of the acquired information regarding the communication quality, wherein the information regarding the communication quality of the second radio link comprises information regarding the communication quality of a third radio link between the remote terminal and the relay terminal, wherein the information regarding the communication quality of the third radio link is acquired in accordance with an estimation result of the communication quality based on a first threshold value for evaluating whether or not the communication quality reaches a predetermined level, a second threshold value for evaluating whether or not the communication quality no longer reaches a predetermined level, and a measurement result regarding the communication quality of the third radio link, wherein the communication device (100C, 200C) is one communication terminal of the remote terminal and the relay terminal, and wherein the control unit is configured to measure the communication quality of the third radio link and acquires the information regarding the communication quality of the third radio link in accordance with the estimation result based on the measurement result, the first threshold value, and the second threshold value. a communication unit configured to perform wireless communication; and a control unit configured to acquire information regarding a communication quality of one or more radio links including at least one of a direct first radio link or a second radio link via a relay terminal, which is configured to be movable, between a remote terminal and a base station, and to switch the radio link to be used in communication between the remote terminal and the base station on a basis of the acquired information regarding the communication quality, wherein the information regarding the communication quality of the second radio link comprises information regarding the communication quality of a third radio link between the remote terminal and the relay terminal, wherein the information regarding the communication quality of the third radio link is acquired in accordance with an estimation result of the communication quality based on a first threshold value for evaluating whether or not the communication quality reaches a predetermined level, a second threshold value for evaluating whether or not the communication quality no longer reaches a predetermined level, and a measurement result regarding the communication quality of the third radio link, wherein the communication device (100C, 200C) is one communication terminal of the remote terminal and the relay terminal, and wherein the control unit is configured to measure the communication quality of the third radio link and acquires the information regarding the communication quality of the third radio link in accordance with the estimation result based on the measurement result, the first threshold value, and the second threshold value.