Planning and control framework with communication messaging

A first device comprising:

• one or more memory;
• one or more transceivers;
• one or more processors, wherein the one or more processors are communicatively coupled to the one or more memory and the one or more transceivers, wherein the one or more processors configured to:
• obtain environment information in proximity to the first device;
• receive, via the one or more transceivers, one or more communication messages from a second device, wherein the one or more communication messages include relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof;
• determine whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information;
• and
• perform an operation in response to the determination of whether the one or more communication messages are relevant to the first device.

A first device comprising:

• means for obtaining environment information in proximity to the first device;
• means for receiving one or more communication messages from a second device, wherein the one or more communication messages includes relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof;
• means for determining whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information;
• and
• means for performing an operation in response to the determination of whether the one or more communication messages are relevant to the first device.

A non-transitory computer-readable medium for operating a first device, the first device comprising processor-executable program code configured to cause one or more processors to:

• obtain environment information in proximity to the first device;
• receive one or more communication messages from a second device, wherein the one or more communication messages includes relevance criteria, wherein the relevance criteria indicates one or more devices, one or more sets of device characteristics, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof;
• determine whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information;
• and
• perform, by the first device, an operation in response to the determination of whether the one or more communication messages are relevant to the first device.