A sidelink communication method performed by a UE is provided. The method includes receiving from a base station a message including zone configuration information and resource pool configuration information and selecting a zone type mapped to a speed of the UE among zone types indicated by the zone configuration information. A zone identifier is determined based on configuration information of the selected zone type, the configuration information of the selected zone type being included in the zone configuration information. The sidelink communication is performed using a resource pool mapped to the zone identifier among resource pools indicated by the resource pool configuration information.