The present invention relates to a method and apparatus for a transmission device to transmit a reference signal in a wireless communication system. Specifically, the method includes: a step for receiving the settings of a resource pool composed of uplink resources; and a step for mapping reference signals and data onto a specific uplink resource on the basis of the resource pool settings and N (where N is a natural number) antennas for the transmission device, and is characterized in that the reference signals are mapped to at least one resource element at a specific location on the specific uplink resource, and the data is mapped on the specific uplink resource excluding the at least one specific location to be mutually orthogonal on the basis of one resource axis among the time-frequency resources and so that the data is continuous depending on the number of antennas. The transmitting device is capable of communicating with at least one of another receiving device, a receiving device related to an autonomous driving vehicle, a base station or a network.