A method of transmitting and receiving a sidelink signal performed by a User Equipment, UE, in a wireless communication system, the method comprising: performing a first resource sensing for a first transmission resource pool; selecting first transmission resources from the first transmission resource pool based on a result of the first resource sensing; transmitting a first sidelink signal during a transmission period based on the first transmission resources; performing a second resource sensing related to a transmission of a second sidelink signal on a reception resource pool that is used for reception of a second reception sidelink signal and is different from the first transmission resource pool; and based on the first transmission resource pool being switched to a second transmission resource pool included in the reception resource pool, selecting second transmission resources for the second sidelink signal from the second transmission resource pool based on a result of the second resource sensing, wherein the result of the second resource sensing is obtained in advance for the second transmission resource pool before the first transmission resource pool switches to the second transmission resource pool, wherein the result of the first resource sensing includes a reception strength of a first reception sidelink signal received in the first transmission resource pool, and resource allocation information of the first reception sidelink signal, wherein the result of the second resource sensing includes the reception strength of the second reception sidelink signal received in the second transmission resource pool, and the resource allocation information of the second reception sidelink signal, wherein the second sidelink signal is transmitted in the second transmission resources during the transmission period, and wherein the second transmission resource pool has the same a cyclic prefix, CP, length, a subcarrier interval, a synchronization reference and a sub-channel size as the reception resource pool. performing a first resource sensing for a first transmission resource pool; selecting first transmission resources from the first transmission resource pool based on a result of the first resource sensing; transmitting a first sidelink signal during a transmission period based on the first transmission resources; performing a second resource sensing related to a transmission of a second sidelink signal on a reception resource pool that is used for reception of a second reception sidelink signal and is different from the first transmission resource pool; and based on the first transmission resource pool being switched to a second transmission resource pool included in the reception resource pool, selecting second transmission resources for the second sidelink signal from the second transmission resource pool based on a result of the second resource sensing, wherein the result of the second resource sensing is obtained in advance for the second transmission resource pool before the first transmission resource pool switches to the second transmission resource pool, wherein the result of the first resource sensing includes a reception strength of a first reception sidelink signal received in the first transmission resource pool, and resource allocation information of the first reception sidelink signal, wherein the result of the second resource sensing includes the reception strength of the second reception sidelink signal received in the second transmission resource pool, and the resource allocation information of the second reception sidelink signal, wherein the second sidelink signal is transmitted in the second transmission resources during the transmission period, and wherein the second transmission resource pool has the same a cyclic prefix, CP, length, a subcarrier interval, a synchronization reference and a sub-channel size as the reception resource pool.