| CPC H04W 28/0226 (2013.01) [H04W 24/10 (2013.01); H04W 28/0284 (2013.01); H04W 28/06 (2013.01); H04W 36/037 (2023.05); H04W 4/40 (2018.02)] | 16 Claims |

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1. A method performed by a first intelligent transport systems station (ITS-S), the method comprising:
generating a collective perception message (CPM) including information on one or more objects selected from a plurality of perceived objects, and
transmitting, to a second ITS-S, the CPM,
wherein the one or more objects include a first object selected based on a difference between a current speed of the first object and a previous speed of the first object previously included in a CPM exceeding a first threshold or a second object selected based on a distance between a current position of the second object and a previous position of the second object previously included in a CPM exceeding a second threshold, and
wherein a time elapsed between two consecutive CPM generations is greater than or equal to a minimum threshold and less than or equal to a maximum threshold.
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