A terminal device for use in a wireless telecommunications system includes: a transceiver operable to perform wireless communication with one or more other terminal devices according to the wireless communications system and to receive speed information from the one or more other terminal devices indicative of a physical speed of the one or more other terminal devices; and a controller configured to select a transmission format, for use in wireless communication by the transceiver, in dependence upon the speed information received from the one or more other terminal devices.