Vehicle control device

An apparatus for a first vehicle, comprising:

• a processor;
• and
• a non-transitory memory, storing a program, which when executed by the processor, causes the processor to perform operations including:
• receiving, from a base station, a packetized signal;
• receiving first positional information, the first positional information including a current position of the first vehicle, a traveling direction of the first vehicle, and a traveling speed of the first vehicle;
• receiving, from a wireless device mounted on a second vehicle, second positional information, the second positional information including a current position of the second vehicle, a traveling direction of the second vehicle, and a traveling speed of the second vehicle;
• broadcasting the first positional information i) according to a timing based on the packetized signal from the base station or ii) when no signal is detected from a vehicle other than the first vehicle;
• estimating a future position of the first vehicle on the basis of the first positional information;
• estimating a future position of the second vehicle on the basis of the second positional information;
• determining whether a distance between the future position of the first vehicle and the future position of the second vehicle is shorter than a threshold value;
• and
• outputting information indicating the distance is shorter than the threshold value, when the distance is shorter than the threshold value.