A reference signal transmission method and a reference signal transmission device are provided. The reference signal transmission method for a V2X system includes: receiving, by a first device, a first reference signal transmitted by another device via a sidelink; and performing, in accordance with the first reference signal transmitted by the other device, at least two of: a resource occupancy sensing process, an Automatic Gain Control (AGC) process, a Frequency Offset Estimation (FOE) process, a Channel State Information (CSI) measurement process, and a channel estimation process.