A method for a terminal to transmit signals on the basis of a non-orthogonal multiple access scheme in a wireless communication system may comprise the steps of: receiving, from a base station, information about a codebook selected for the terminal in pre-defined non-orthogonal codebooks and control information including information about a codeword selected from the selected codebook; performing resource mapping on uplink data to be transmitted on the basis of information about the selected codebook and information about the codeword selected from the selected codebook; transmitting, to the base station, the uplink data mapped to the resource according to the resource mapping.