A reference signal receiving method includes: obtaining, at a user equipment, a sidelink resource pool configuration including configuration parameters of one or more SL OFDM resources (sidelink orthogonal frequency division multiplexing resources) including one or more SL OFDM RS resources (SL OFDM reference signal resources) each dedicated to carrying one or more sidelink reference signals; receiving, at the user equipment, reference signal control information indicating a first resource location of at least one of the one or more SL OFDM RS resources; decoding, at the user equipment, the reference signal control information; and using, at the user equipment, the at least one of the one or more SL OFDM RS resources to receive a first reference signal.