1. A method of performing Vehicle-to-Everything (V2X) communication by a User Equipment (UE), the method comprising:transmitting UE assistance information for Semi-Persistent Scheduling (SPS) of V2X communication radio resources to a Base Station (BS);
receiving, from the BS, SPS configuration information generated by the BS based on the UE assistance information; and
performing the V2X communication based on the SPS configuration information,
wherein the UE assistance information is transmitted in response to at least one of events including i) changing an estimated arrival period of a packet using the V2X communication and ii) changing an estimated arrival offset of the packet, and
wherein the UE assistance information includes SPS interval information and timing offset information proposed by the UE.