A user equipment (UE) configured to determine a resource selection window which identifies a first set (e.g., a total set) of candidate resources. The UE may then remove one or more candidate resources from the first set of candidate resources in response to receiving sidelink control information (SCI) from a pedestrian UE with a reservation of the one or more first candidate resources. After removal of these candidate resources from the initial or first set based on their presumed unavailability, the result may be a second set of candidate resources, which may be a subset of the initial or first set for use in communicating with a third UE. The UE may also be configured to remove candidate resources based on a reference signal receive power (RSRP) threshold which can also be adjusted based on a maximum value or a highest priority of the pedestrian UE's data.