Embodiments of the present disclosure provide a method for transmitting data, including: sensing, by a first device, a scheduling assignment (SA) of another device; measuring a received power of the other device, and measuring a total received energy of a subframe/subband; determining a received power reference value and a total received energy reference value of the other device according to the SA; selecting resources; and transmitting data using the selected resources. According to the method of the present disclosure, the performance of the method which avoids collision based on SA is improved, and measurement accuracy of the total received energy of the subband is increased. Thus, resource selection/re-selection can be performed better. As such, interferences between devices can be avoided effectively.