A pedestrian user equipment (P-UE) which participates in P-UE related V2X communications comprises processor circuitry and a transmitter. The processor circuitry is configured to select a resource pool for a P-UE related V2X communication and to make a determination. The determination, based on a first indicator and/or a second indicator, is whether to transmit the sidelink signal based on sensing using the selected resource pool; or whether to transmit the sidelink signal based on random selection using the selected resource pool. The transmitter is configured to transmit the sidelink signal.