US Patent 11769405 Communication device and communication method

An object is to share information of detected obstacles on a road among communication devices, using efficient communication. A communication device according to the present disclosure includes: a wireless receiving unit for receiving wireless information including first obstacle information of a first obstacle which is at least one obstacle, from outside; a first obstacle extraction unit for extracting the first obstacle information from the wireless information; a second obstacle detection unit for detecting second obstacle information of a second obstacle which is at least one obstacle present in an own surrounding area by a sensor; and an overlap information removing unit which, if there is overlap obstacle information between the first obstacle information and the second obstacle information, removes the overlap obstacle information from the second obstacle information, to generate difference obstacle information.