A wireless communication device mountable in a vehicle acquires first position information on the vehicle and receives a packet signal from another wireless communication device, the packet signal including second position information on another vehicle in which the other wireless communication device is mounted. The wireless communication device has a storage that stores log information and a controller. The controller predicts whether the vehicle crosses the other vehicle at a point of crossing based on the first position information and the second position information, estimates a structure of crossing corresponding to the point of crossing based on the history information, and determines, when it is predicted that the vehicle crosses the other vehicle at the point of crossing, whether or not to notify a presence of the other vehicle to a driver of the vehicle, in accordance with the structure of crossing corresponding to the point of crossing.