Disclosed herein is a method of receiving, by a terminal of a vulnerable road user (VRU), a signal in a wireless communication system. The method include receiving a message related to a safety service of the VRU from a network, and outputting a warning message based on comparing a field defining a geographic area, in which the safety service is provided, in the message and a position of the terminal, wherein the warning message is output based on determining that the terminal exists within the geographic area.