1. A method of operating a first wireless communication device to perform device-to-device, D2D, detection, comprising: obtaining a plurality of discovery message detection results; and determining a D2D discovery status of a second wireless device based on the plurality of discovery message detection results, and initiating a D2D connection with the second wireless communication device based on the determined D2D discovery status, wherein determining the D2D discovery status of the second wireless communication device is further based on at least one of a group consisting of: one or more signal strength measurement values, each associated with a different one of the plurality of discovery message detection results; and one or more total received power measurement values, each associated with a different one of the plurality of discovery message detection results, and wherein determining the D2D discovery status of the second wireless communication device is further based on at least one of a group consisting of: a filtered signal strength value determined based on the one or more signal strength measurement values; and a filtered total received power value determined based on the one or more total received power measurement values.