A terminal is disclosed including a processor that detects, based on a result of sensing in a time window for sensing, one or more resources capable of transmitting a physical sidelink shared channel (PSSCH) signal in a time window for resource selection, wherein the processor selects a resource for transmitting the PSSCH signal from the one or more detected resources; and a transmitter that transmits the PSSCH signal using the selected resource for transmitting the PSSCH signal. The processor autonomously determines a start timing and an end timing of the time window for resource selection from preset timing candidates. An end timing of the time window for sensing is right before the start timing of the time window for resource selection.