Device and method for V2X communication
Disclosed is a method by which a V2X communication device for a vehicle transmits a CPM message. The method for transmitting the CPM message comprises the steps of: determining a transmission mode of the CPM message for generating a collective perception for at least one object detected by the V2X communication device; and transmitting the CPM message on the basis of the transmission mode. The CPM message corresponds to a dynamic CPM message for transmitting dynamic data or a full CPM message for transmitting the dynamic data and static data, wherein the dynamic CPM message can include a dynamic container containing the dynamic data, and the full CPM message can include the dynamic container containing the dynamic data and the static container containing static data.
1. A method of transmitting, by a V2X communication apparatus of a vehicle, a collective perception message (CPM) message, the method comprising:
determining a transmission mode of the CPM message for generating collective perception for at least one object detected by the V2X communication apparatus; and
transmitting the CPM message based on (i) the transmission mode and (ii) a transmission timing,
wherein the CPM message corresponds to any one of a dynamic CPM message for transmitting dynamic data or a full CPM message for transmitting dynamic data and static data,
wherein the dynamic CPM message includes a dynamic container including dynamic data,
wherein the full CPM message includes a dynamic container including the dynamic data and a static container including the static data,
wherein the transmission timing includes (i) a first transmission timing at which the dynamic CPM message is transmitted and (ii) a second transmission timing at which the full CPM message, and
wherein a number of the first transmission timing is more than a number of the second transmission timing.
2. The method of claim 1 , further comprising:
based on that the transmission mode is an interval transmission mode,
transmitting the dynamic CPM message at the first transmission timing within a first transmission interval, or
transmitting the full CPM message at the second transmission timing within a second transmission interval different from the first transmission interval.
3. The method of claim 2 ,
wherein the first transmission interval is shorter than the second transmission interval.
4. The method of claim 1 , further comprising:
based on that the transmission mode is an event trigger transmission mode,
periodically transmitting the dynamic CPM message at the first transmission timing, or
transmitting the full CPM message at the second transmission timing determined based on a predefined event occurring.
5. The method of claim 1 , further comprising:
based on that the transmission mode is a hybrid transmission mode,
transmitting the dynamic CPM message at the first transmission timing within a first transmission interval,
transmitting the full CPM message at the second transmission timing within a second transmission interval different from the first transmission interval, and
further transmitting a CPM message corresponding to the full CPM message at the second transmission timing determined based on a predefined event occurring.
6. The method of claim 1 ,
wherein the dynamic container includes object information related to at least one object detected by a sensor of the V2X communication apparatus, and
wherein the static container includes sensor information related to the sensor of the V2X communication apparatus.
7. The method of claim 1 ,
wherein the dynamic container includes dynamic object information having a dynamic characteristic among object information related to the at least one object detected by a sensor of the V2X communication apparatus, and includes dynamic sensor information having a dynamic characteristic among sensor information related to the sensor of the V2X communication apparatus, and
wherein the static container includes static object information having a static characteristic among the object information and includes static sensor information having a static characteristic among the sensor information.
8. A V2X communication apparatus of a vehicle, comprising:
a memory storing data;
a communication unit transmitting or receiving a radio signal including a collective perception message (CPM) message; and
a processor configured to control the memory and the communication unit,
wherein the processor is configured to:
determine a transmission mode of the CPM message for generating collective perception for at least one object detected by the V2X communication apparatus, and
transmit the CPM message based on the transmission mode and (ii) a transmission timing,
wherein the CPM message corresponds to any one of a dynamic CPM message for transmitting dynamic data or a full CPM message for transmitting dynamic data and static data,
wherein the dynamic CPM message includes a dynamic container including dynamic data,
wherein the full CPM message includes a dynamic container including the dynamic data and a static container including the static data,
wherein the transmission timing includes (i) a first transmission timing at which the dynamic CPM message is transmitted and (ii) a second transmission timing at which the full CPM message, and
wherein a number of the first transmission timing is more than a number of the second transmission timing.
9. The V2X communication apparatus of claim 8 , wherein the processor is further configured to:
based on that the transmission mode is an interval transmission mode,
transmit the dynamic CPM message at the first transmission timing within a first transmission interval, or
transmit the full CPM message at the second transmission timing within a second transmission interval different from the first transmission interval.
10. The V2X communication apparatus of claim 9 ,
wherein the first transmission interval is shorter than the second transmission interval.
11. The V2X communication apparatus of claim 8 , wherein the processor is further configured to:
based on that the transmission mode is an event trigger transmission mode,
periodically transmit the dynamic CPM message at the first transmission timing, or
transmit the full CPM message at the second transmission timing determined based on a predefined event occurring.
12. The V2X communication apparatus of claim 8 , wherein the processor is further configured to:
based on that the transmission mode is a hybrid transmission mode,
transmit the dynamic CPM message at the first transmission timing within a first transmission interval,
transmit the full CPM message at the second transmission timing within a second transmission interval different from the first transmission interval, and
further transmit a CPM message corresponding to the full CPM message at the second transmission timing determined based on a predefined event occurring.
13. The V2X communication apparatus of claim 8 ,
wherein the dynamic container includes object information related to at least one object detected by a sensor of the V2X communication apparatus, and
the static container includes sensor information related to the sensor of the V2X communication apparatus.
14. The V2X communication apparatus of claim 8 ,
wherein the dynamic container includes dynamic object information having a dynamic characteristic among object information related to the at least one object detected by a sensor of the V2X communication apparatus, and includes dynamic sensor information having a dynamic characteristic among sensor information related to the sensor of the V2X communication apparatus, and
wherein the static container includes static object information having a static characteristic among the object information and includes static sensor information having a static characteristic among the sensor information.