A communication device comprising: a communication unit configured to perform wireless communication; a control unit configured to dynamically allocate a resource pool for sidelinks, the resource pool including a plurality of resources to each of a first channel for transmitting control information and a second channel for transmitting data in communication between a plurality of terminal devices ; and a notification unit configured to notify at least any terminal device among the plurality of terminal devices of information regarding the resource pool, wherein the control unit is further configured to dynamically allocate the resource pool to a third channel used by a second terminal device of the plurality of terminal devices to notify a first terminal device of the plurality of terminal devices of a response to the transmission of the data from the first terminal device, such that the first channel, the second channel and the third channel are transmitted and received during a series of chronologically continuous periods, the control unit is further configured to allocate the resource pool such that the first terminal device among the plurality of terminal devices transmits and receives the first channel for transmitting the control information, the second channel for transmitting the data to and from the second terminal device different from the first terminal device, and the third channel, during the series of chronologically continuous periods, and the notification unit is configured to notify at least the first terminal device among the plurality of terminal devices of the information regarding the resource pool. a communication unit configured to perform wireless communication; a control unit configured to dynamically allocate a resource pool for sidelinks, the resource pool including a plurality of resources to each of a first channel for transmitting control information and a second channel for transmitting data in communication between a plurality of terminal devices ; and a notification unit configured to notify at least any terminal device among the plurality of terminal devices of information regarding the resource pool, wherein the control unit is further configured to dynamically allocate the resource pool to a third channel used by a second terminal device of the plurality of terminal devices to notify a first terminal device of the plurality of terminal devices of a response to the transmission of the data from the first terminal device, such that the first channel, the second channel and the third channel are transmitted and received during a series of chronologically continuous periods, the control unit is further configured to allocate the resource pool such that the first terminal device among the plurality of terminal devices transmits and receives the first channel for transmitting the control information, the second channel for transmitting the data to and from the second terminal device different from the first terminal device, and the third channel, during the series of chronologically continuous periods, and the notification unit is configured to notify at least the first terminal device among the plurality of terminal devices of the information regarding the resource pool. <EOS>