The present invention relates to a method for performing device-to-device (D2D) communication in a wireless communication system. Particularly, the method comprises the step of discovering, by a first device performing channel hopping and D2D communication, a second device for which a new D2D communication is to be performed, wherein: the first device discovers the second device on the basis of a first channel hopping sequence in a first time interval within a total discovery period which is a channel hopping period, and is configured to perform channel hopping on the basis of a second channel hopping sequence in a second time interval within the total discovery period; and the total discovery period of the first device is determined on the basis of the second channel hopping sequence in the second time interval and the number of repetitions of the second channel hopping sequence.