Method of resource selection where a selection window with a total number of resources is set. The method includes setting a sensing window and monitoring slots by decoding a physical sidelink control channel (PSCCH) and measuring a reference signal received power (RSRP), setting a threshold, excluding any restricted resources from the total number of resources, excluding any occupied resources from the total number of resources, and determining if an initial number of remaining resources is greater than or equal to an initial percentage of the total number of resources.