The present invention relates to a method and an apparatus for allocating a resource by a terminal in a wireless communication system supporting carrier aggregation. Specifically, the method comprises the steps of: receiving a configuration of a resource pool for signal transmission; and allocating at least one message to at least one resource unit on the basis of the resource pool, wherein the allocated resource unit is selected on the basis of the transmission capability of a terminal. The terminal is capable of communicating with at least one of another UE, a UE related to an autonomous driving vehicle, a base station or a network.