A radio communication device is mounted on a vehicle including a power source, and the radio communication device includes: a radio communication unit that performs radio communication with one or more base stations; and a control unit that causes the radio communication unit to scan to find the base station capable of performing radio communication, wherein the control unit changes a waiting time until a next scan according to an ON state or an OFF state of the power source in a case where the base station capable of performing radio communication is not found through the scan.