The sensing method a first vehicle user equipment (UE) for collision avoidance in a wireless communication network comprises receiving a set of scheduling assignment (SA) information allocated to a set of second vehicle UEs, decoding the set of SA information, each of which includes SA information to each of the set of second vehicle UEs, performing energy sensing operation for resources to be used by each of the set of second vehicle UEs to determine additional potential SA transmission and data transmission from the set of second vehicle UEs over the resources, determining available resources for the data transmission from the first vehicle UE based on the performed energy sensing and SA sensing, skipping a channel sensing operation on at least one subframe that is used for the data transmission from the first vehicle UE, and transmitting data among resources identified as unused in next transmissions from second vehicle UEs.