A method for a V2V communication by using a radar module used for detecting objects nearby, comprising steps of: detecting a 1-st trigger indicating that a 1-st timing corresponding to a current time is included in a 1-st time slot, upon said detecting a 1-st trigger, a computing device performing: (i) a process of instructing the radar module to transmit one or more 1-st transmitting signals, to be used for acquiring information on a range, a velocity and an angle of an object (RVA information) on at least part of one or more head directions, one or more relative locations and one or more relative velocities of at least part of one or more 1-st surrounding objects including one or more 1-st surrounding vehicles located closer than a first threshold from a subject vehicle interworking with the computing device at the 1-st timing, by referring to at least one 1-st transmitting schedule and (ii) a process of generating the RVA information by using one or more -st receiving signals, corresponding to the 1-st transmitting signals, that are acquired through the radar module in the 1-st time slot; and detecting a 2-nd trigger indicating that a 2-nd timing corresponding to a later time from the 1-st timing is included in a 2-nd time slot, upon said detecting the 2-nd trigger, the computing device performing a process of instructing the radar module to transmit one or more 2-nd transmitting signals by referring to at least one 2-nd transmitting schedule, corresponding to V2V transmitting information on the subject vehicle, wherein, at the steps of and the computing device, if one or more -nd receiving signals are acquired through the radar module from at least part of the 1-st surrounding objects in the 1-st time slot, further performs a process of generating 1-st V2V receiving information by referring to the -nd receiving signals in parallel with the other processes performed during the steps of and, and wherein, at the steps of and, the computing device, if one or more 2-nd receiving signals are acquired through the radar module from at least part of 2-nd surrounding vehicles which are located closer than the first threshold from the subject vehicle at the 2-nd timing, performs a process of generating 2-nd V2V receiving information on at least part of the 2-nd surrounding vehicles by referring to the 2-nd receiving signals in parallel with the other process performed during the steps of and. detecting a 1-st trigger indicating that a 1-st timing corresponding to a current time is included in a 1-st time slot, upon said detecting a 1-st trigger, a computing device performing: (i) a process of instructing the radar module to transmit one or more 1-st transmitting signals, to be used for acquiring information on a range, a velocity and an angle of an object (RVA information) on at least part of one or more head directions, one or more relative locations and one or more relative velocities of at least part of one or more 1-st surrounding objects including one or more 1-st surrounding vehicles located closer than a first threshold from a subject vehicle interworking with the computing device at the 1-st timing, by referring to at least one 1-st transmitting schedule and (ii) a process of generating the RVA information by using one or more -st receiving signals, corresponding to the 1-st transmitting signals, that are acquired through the radar module in the 1-st time slot; and (i) a process of instructing the radar module to transmit one or more 1-st transmitting signals, to be used for acquiring information on a range, a velocity and an angle of an object (RVA information) on at least part of one or more head directions, one or more relative locations and one or more relative velocities of at least part of one or more 1-st surrounding objects including one or more 1-st surrounding vehicles located closer than a first threshold from a subject vehicle interworking with the computing device at the 1-st timing, by referring to at least one 1-st transmitting schedule and (ii) a process of generating the RVA information by using one or more -st receiving signals, corresponding to the 1-st transmitting signals, that are acquired through the radar module in the 1-st time slot; and detecting a 2-nd trigger indicating that a 2-nd timing corresponding to a later time from the 1-st timing is included in a 2-nd time slot, upon said detecting the 2-nd trigger, the computing device performing a process of instructing the radar module to transmit one or more 2-nd transmitting signals by referring to at least one 2-nd transmitting schedule, corresponding to V2V transmitting information on the subject vehicle, wherein, at the steps of and the computing device, if one or more -nd receiving signals are acquired through the radar module from at least part of the 1-st surrounding objects in the 1-st time slot, further performs a process of generating 1-st V2V receiving information by referring to the -nd receiving signals in parallel with the other processes performed during the steps of and, and wherein, at the steps of and, the computing device, if one or more 2-nd receiving signals are acquired through the radar module from at least part of 2-nd surrounding vehicles which are located closer than the first threshold from the subject vehicle at the 2-nd timing, performs a process of generating 2-nd V2V receiving information on at least part of the 2-nd surrounding vehicles by referring to the 2-nd receiving signals in parallel with the other process performed during the steps of and.