A terminal device (200) performs sidelink communication with another terminal device. The terminal device (200) includes a control unit (240). The control unit (240) acquires resource pool information regarding a resource pool allocated by a base station device (100) for sidelink communication with another terminal device. The control unit (240) transmits control information to another terminal device by using at least one of a plurality of sidelink control channels allocated to a slot included in the resource pool in a time axis direction.