Method and apparatus for controlling communication of data collision avoidance in domain and a vehicle and storage medium including the same

An apparatus for controlling communication of data collision avoidance in a domain, the apparatus comprising:

• a first master communication node configured to sequentially provide transmission opportunities to a plurality of first communication nodes linked to a first domain during each period;
• and
• a second master communication node configured to sequentially provide transmission opportunities to a plurality of second communication nodes linked to a second domain during each period,
• wherein the first master communication node is further configured to:
• receive data from at least one of the plurality of first communication nodes;
• and
• transmit the data to the second master communication node, and
• wherein the second master communication node is further configured to:
• transmit the data to at least one of the plurality of second communication nodes in a transmission opportunity, and
• wherein at least one of the first master communication node or the second master communication node is further configured to:
• monitor an amount of a data transmission of at least one of the plurality of first communication nodes;
• and
• selectively provide an additional transmission opportunity to the other one of the first master communication node or the second master communication node according to a result of monitoring the amount of a data transmission.