In driving safety systems for avoiding collision using vehicle to vehicle communication, it is important for each vehicle to know other vehicles' positions and speed data delivered by beacons periodically sent from the vehicles. Each vehicle has to frequently recognize the correct positions of nearby vehicles because the vehicles have a high risk of collision with them. Aiming to make vehicles to obtain the position information of neighboring vehicles at a sufficient frequency risk for avoiding collision, in this paper, we propose a cyclic beacon transmission power control scheme. The scheme is designed so that each vehicle can receive beacons from distant vehicles at low frequency and ones from nearby vehicles at high frequency. We evaluated the effectiveness of the proposed scheme through simulation and compared beacon reception ratios and the length of consecutive failures of beacon reception obtained with the proposed cyclic transmission power control scheme and conventional schemes. The simulation results show that the proposed scheme achieves a higher beacon reception ratio than a scheme that uses constant transmission power and ETSI-DCC that are one of dynamic transmission power control schemes when the vehicle density is high. In addition, the proposed scheme reduces the length of consecutive failures of beacon reception of receiving beacons from distant vehicles.