Method and apparatus for sidelink terminal to transmit signal in wireless communication system

A first user equipment (UE) in a wireless communication system, the first UE comprising:

• a memory;
• and
• a plurality of processors coupled to the memory,
• wherein at least one processor among the plurality of processors is configured to determine at least one of a transmission parameter, a channel state information reference signal (CSI-RS) transmission configuration, or a demodulation reference signal (DMRS) configuration and transmit a sidelink signal to a second UE based on the at least one of the transmission parameter, the CSI-RS transmission configuration, or the DMRS configuration,
• wherein based on establishment of a unicast connection with the second UE, the first UE determines a first value corresponding to a relative difference from the second UE by using information included in a message from the second UE and sensor information, and
• wherein the first UE determines the at least one of the transmission parameter, the CSI-RS transmission configuration, or the DMRS configuration based on the first value.