One embodiment of the present invention relates to a method of transmitting and receiving a sidelink signal of a UE, comprising the steps of: receiving, by the UE from one or more of a base station or a sidelink UE, information capable of distinguishing a mode 1/3 signal or a mode 2/4 signal or control information comprising a priority assigned to each of the mode 1/3 and the mode 2/4; determining whether or not a mode 1/3 resource is used by a UE other than the UE, on the basis of the information capable of distinguishing the mode 1/3 signal or the mode 2/4 signal; and requesting, by the UE, a resource reselection to the base station, if the mode 1/3 resource is used by a UE other than the UE and the UE is a mode 1/3 UE.