An embodiment of the present invention relates to a method for performing sidelink communication in a wireless communication system, the method comprising the steps of: receiving, by an in-coverage terminal, predetermined information relating to which parameters, among sidelink parameters, are valid for an out-coverage terminal; and performing sidelink communication with the out-coverage terminal, using the parameters having been determined to be valid according to the predetermined information. The UE is capable of communicating with at least one of another UE, a UE related to an autonomous driving vehicle, the BS or a network.