[Object] To provide a device capable of performing efficient resource sensing in V2X communication.[Solution] Provided is a device including a processing unit configured to perform sensing using one of first sensing of sensing resources for a predetermined period and selecting communication resources on a basis of a result of the sensing and second sensing of selecting communication resources on a basis of a result of decoding control information transmitted by another user with reference to a mapping table at the time of the first sensing and the second sensing.