According to an aspect of the present disclosure, a method for transmitting, by a road side unit (RSU), a signal in a wireless communication system comprises: receiving, from another RSU, an infrastructure-to-infrastructure (I2I) signal for pairing; on the basis of the I2I signal for pairing, performing pairing with the other RSU; and on the basis of the pairing having failed, transmitting an infrastructure-to-vehicle (I2V) signal every preset period, wherein the I2I signal for pairing comprises information regarding a period change value associated with the preset period, and, on the basis of the pairing having succeeded, the I2V signal is transmitted every period into which the preset period has been changed on the basis of the period change value.