Device and method for V2X communication
Disclosed is a method for transmitting a CPM message by a V2X communication device of a vehicle. Specifically, a method for transmitting a V2X message of a vehicle may comprise the steps of: detecting at least one object by using at least one sensor mounted in the vehicle; sampling a sensor coverage region of the vehicle; generating a point indicating a sensor reaching distance of the at least one sensor mounted in the vehicle for each sampled sensor coverage region; generating a CP message including information relating to the point and the detected at least one object; and transmitting the CP message.
1. A method of transmitting a message of a vehicle, the method comprising:
detecting at least one object based on at least one sensor mounted to the vehicle;
sampling a sensor coverage area of the vehicle;
generating a point representing a sensor arrival distance by the at least one sensor mounted to the vehicle, for each sampled sensor coverage area;
generating a CPM (Collective Perception Message) including the point and information for the detected at least one object; and
transmitting the CPM,
wherein the CPM includes sensor data for each of the at least one sensor mounted to the vehicle, and
wherein the generating the CPM further includes randomly changing an order of the sensor data based on a preset random seed value.
2. The method of claim 1 ,
wherein sampling the sensor coverage area is performed by sampling the sensor coverage area at angles of equal intervals by a preset number with respect to a center of the vehicle.
3. The method of claim 1 ,
wherein the point is sequentially generated for each of the sampled sensor coverage area with respect to a traveling direction of the vehicle.
4. The method of claim 1 ,
wherein the information for the detected at least one object includes a sensor bit map representing information for a sensor detecting the at least one object, and
wherein each bit in the sensor bit map is mapped to a sensor mounted to the vehicle.
5. The method of claim 1 , wherein sampling the sensor coverage area further includes:
setting an angle offset representing a reference point for generating the point, and
wherein the point is sequentially generated for each of the sampled sensor coverage area with respect to the angle offset.
6. A communication device of a vehicle, comprising:
a memory storing data;
a communication unit transmitting and receiving a wireless signal including a CPM (collective perception message); and
a processor controlling the memory and the communication unit, wherein the processor is configured to:
detect at least one object based on at least one sensor mounted to the vehicle;
sample a sensor coverage area of the vehicle;
generate a point representing a sensor arrival distance by the at least one sensor mounted to the vehicle, for each sampled sensor coverage area;
generate a CPM including the point and information for the detected at least one object; and
transmit the CPM,
wherein the CPM includes sensor data for each of the at least one sensor mounted to the vehicle, and
wherein the processor randomly changes an order of the sensor data based on a preset random seed value.
7. The communication device of claim 6 ,
wherein the sensor coverage area is sampled by sampling the sensor coverage area at angles of equal intervals by a preset number with respect to a center of the vehicle.
8. The communication device of claim 6 ,
wherein the point is sequentially generated for each of the sampled sensor coverage area with respect to a traveling direction of the vehicle.
9. The communication device of claim 6 ,
wherein the information for the detected at least one object includes a sensor bit map representing information for a sensor detecting the at least one object, and
wherein each bit in the sensor bit map is mapped to a sensor mounted to the vehicle.
10. The communication device of claim 6 ,
wherein the processor sets an angle offset representing a reference point for generating the point, and
wherein the point is sequentially generated for each of the sampled sensor coverage area with respect to the angle offset.