An embodiment of the present invention relates to a method for performing beam search or beam transmission by a first UE in a wireless communication system, the method comprising the steps of: receiving location information from a second UE; and performing at least one of beam search and beam transmission for an area determined on the basis of the received location information, wherein one or more of a beam direction, a beam first search direction, and a beam width for the beam search or the beam transmission are determined according to one or more of a location, a speed, and a moving direction of the first UE, and a service and a required packet delay value for the first UE.