A semiconductor device includes a transmission control unit which performs transmission processing, an area determination unit which determines whether an own vehicle is located in an intersection area, and an operation mode determination unit which determines either a control mode or a terminal mode as an operation mode of a radio terminal device based on an identification information for identifying a source of a received communication frame, and a determination result by the area determination unit. When the operation mode is determined to be the control mode, the transmission control unit outputs, as transmission data, a communication frame including generated control information. When the operation mode is determined to be the terminal mode, the transmission control unit outputs transmission data in synchronization with the received communication frame.