| CPC H04W 40/20 (2013.01) [G08G 1/0141 (2013.01); H04W 4/12 (2013.01); H04W 4/40 (2018.02); H04W 4/44 (2018.02); H04W 40/32 (2013.01); H04W 64/00 (2013.01)] | 14 Claims |

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1. A method for transmitting a signal by a first user equipment (UE) in a wireless communication system, the method comprising:
monitoring a message about mobility of at least one UE;
transmitting, to a second UE selected by the at least one UE, a message requesting to join a cluster to which the first UE belongs;
receiving a message that acknowledges joining the cluster from the second UE;
receiving, from one of a plurality of UEs belonging to the cluster, a first safety message including count information about a number of transmissions and information of mobility of the cluster; and
transmitting a second safety message for the cluster based on the first safety message,
wherein the second UE is selected based on comparison between the mobility of the cluster and mobility of the second UE,
wherein the first UE is configured with a count value related to a safety message transmission order for the cluster, and
wherein the second safety message is transmitted based on the reception of the first safety message including the count information corresponding to the count value with which the first UE is configured.
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