| CPC H04W 52/28 (2013.01) [G08G 1/166 (2013.01); H04W 52/14 (2013.01); H04W 72/25 (2023.01); B60W 30/0956 (2013.01)] | 13 Claims |

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1. A method for transmitting a safety message by a vulnerable road user (VRU) device in a wireless communication system supporting sidelink, the method comprising:
transmitting state information to a device based on mobility information;
receiving reconfiguration information about transmission parameters from the device; and
transmitting a safety message based on the reconfiguration information, wherein the state information is included and transmitted in a UEAssistanceInformation message based on a prediction of a risk of collision according to surrounding information and the mobility information,
wherein the safety message is transmitted at a transmission power and transmission interval changed by the reconfiguration information.
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