Cooperative intelligent transport system and method with CPM significance index for redundancy mitigation

A cooperative intelligent transport system for exchanging information between stations in said cooperative intelligent transport system using a wireless communication channel, said exchanging of information comprising transmitting, receiving, processing and/or discarding a collective perception message containing information about on-board sensors and/or objects detected by said on-board sensors within a traffic environment,

• the cooperative intelligent transport system comprising:
• at least one sensor provided at a respective station and arranged to detect a plurality of objects present within a field of view;
• a reception unit arranged to receive a shared message from another station as, said shared message including information on at least one object being present in a vicinity of the station;
• a data obtaining unit arranged to obtain object data of each detected object from said at least one sensor and/or said shared message;
• a filling unit arranged to fill a collective perception message with object data of the plurality of objects;
• a second calculating unit arranged to calculate a collective perception message significance index for each collective perception message filled with object data of the plurality of objects;
• a determining unit arranged to determine available channel resources of said wireless communication channel;
• and
• a transmission unit arranged to transmit collective perception messages in accordance with the available channel resources starting with a collective perception message with the highest collective perception message significance index.

A computer-implemented system for exchanging of information in a cooperative intelligent transport system between stations in said cooperative intelligent transport system using a wireless communication channel, said exchanging of information comprising transmitting, receiving, processing and/or discarding a collective perception message containing information about on-board sensors and/or objects detected by said on-board sensors within a traffic environment,

• said computer-implemented system comprising a memory for storing instructions which, when carried out by a processor, cause the processor to perform:
• detecting a plurality of objects present within a field of view of at least one sensor provided at a respective station or included in a shared message received from another station as being present in a vicinity of the station;
• obtaining object data of each detected object from said at least one sensor and/or said shared message;
• filling a collective perception message with object data of the plurality of objects;
• calculating a collective perception message significance index for each collective perception message filled with object data of the plurality of objects;
• determining available channel resources of said wireless communication channel;
• and
• transmitting collective perception messages in accordance with the available channel resources starting with a collective perception message with the highest collective perception message significance index.