Method for initiating the transmission of a message representing the state of a radio node of a wireless communication network

Abstract

Method (100) for initiating a transmission of a message (M2) representing a state of a radio node (14) of a wireless communication network (10), wherein the wireless communication network (10) comprises a first radio node (12) and a second radio node (14), and the method comprises the following: - Receiving a message (M1) by the second radio node (14) representing a state of the first radio node (12); - upon receiving the message (M1), the second radio node (14) determines a redundancy measure based on ◯ of the state of the first radio node (12) and ◯ of a state of the second radio node (14) at a current time; - based on a result of the determination of the state of the first radio node (12) in a first data storage and the state of the second radio node (14) in a second data storage by the second radio node (14); - Checking that the second radio node (14) has fulfilled a message generation strategy based on ◯ of a state of the second radio node (14) at another current time, ◯ of the state stored in the first data storage, and ◯ of the state stored in the second data storage; - based on a result of the test, initiating a transmission of a message (M2) by the second radio node (14) which represents the state of the second radio node (14) at the further current time.

Description

State of the art

[0001] In the field of vehicle-to-X (V2X) communications, several methods have been developed to mitigate the current channel load caused by vulnerable road users (VRUs). One such technique is redundancy reduction (RM), as described in ETSI TS 103 300-3 V2.2.1. RM aims to find a balance between the frequency of generating a VRU attention message at the facility layer and the communication overhead at the access layer, while ensuring the safety and attention of nearby VRUs.In particular, VAM transmission during a VAM generation event is subjected to various redundancy reduction techniques, including the condition that an originating VRU-ITS-S should omit the transmission of an individual VAM if specific criteria regarding elapsed time, distance, velocity, and orientation are met simultaneously. These criteria are designed to optimize VAM transmission without compromising VRU security and VRU attention.

[0002] The procedure outlined in ETSI TS 103 300-3 V2.2.1 specifies the comparison of VAMs with the eigenstate to eliminate redundancy, but it lacks clarity regarding which VAMs should be used for the comparison. The absence of a rule specifying the permissible age of a message for use in redundancy checks leads to problems, especially when the eigenstate is compared with older messages. Disclosure of the invention

[0003] According to a first aspect, a method is provided for initiating the transmission of a message representing the state of a radio node in a wireless communication network. Here, the wireless communication network comprises at least a first radio node and a second radio node.

[0004] The procedure according to the first aspect includes the following: - Receiving a message by the second radio node that represents a state of the first radio node; - Upon receiving the message, the second radio node determines a redundancy measure based on the ◯ of the state of the first radio node and ◯ of a state of the second radio node at a current time; - based on the result of the determination of the state of the first radio node in a first data storage and the state of the second radio node in a second data storage by the second radio node; - Checking whether the second radio node is fulfilling a message generation strategy based on ◯ of a state of the second radio node at another current time, ◯ of the state stored in the first data storage, and ◯ of the state stored in the second data storage; - Based on the result of the test, the second radio node initiates a transmission of a message that represents the state of the second radio node at the current time.

[0005] According to a second aspect, a radio node of a wireless communication network is provided, configured to perform the steps of the method according to the first aspect or its embodiments. The radio node may be configured as, or comprised of, a station of an intelligent transportation system (ITS). The first and second radio nodes are preferably contained in different stations of the ITS.

[0006] According to a third aspect, a road user is provided with the radio node according to the second aspect or its embodiments. A road user can be mobile or stationary. The road user can be selected from the group that includes at least cars, trucks, motorcycles, bicycles, pedestrians, and roadside infrastructure equipment, including road signs, traffic lights, or barriers and gates.

[0007] According to a fourth aspect, a computer program is provided with instructions which, when the program is executed by the radio node according to the second aspect, cause the radio node to perform the steps of the method according to the first aspect or its embodiments.

[0008] According to a fifth aspect, a preferably non-transitory, computer-readable data carrier is provided on which the computer program, as defined by the fourth aspect, is stored.

[0009] The message representing the state of the first radio node and / or the message representing the state of the second radio node can be V2X messages, such as collective perception messages (CPM), preferably a cooperative attention message, such as VAMs. The message can include one or more containers that hold specific state information to represent the state of the respective radio node. In other words, the message contains information about the state of the respective radio node.

[0010] The state information can specify at least one of a group that includes: a position, a velocity, a direction of movement, and other dynamic information of the respective radio node. Additionally or alternatively, the state information can specify at least one of a group that includes: a type, a size, a path, and a path prediction of a road user that includes the respective radio node. Preferably, the message represents the state of the radio node by including state information about the position, velocity, and direction of movement of the respective radio node. Here, the state of a radio node can be considered the state of a station that includes the radio node and / or a road user that includes the radio node or the station containing the radio node.

[0011] The message can be received and / or transmitted using a wireless communication channel of the wireless communication network, in particular a direct communication channel between the first and second radio nodes. The one or more messages can be transmitted as broadcast messages.

[0012] The redundancy measure can be understood as a representation of a redundancy level or a metric that indicates the extent of redundancy. The redundancy measure can include one or more redundancy indicators to represent the redundancy level.

[0013] The redundancy level is determined or calculated upon receipt of the message, specifically independently of verifying compliance with the message generation strategy and also independently of initiating the transmission of the second message. In other words, the receipt of the message representing the state of the first radio node triggers the determination of the redundancy level.

[0014] The redundancy level can be determined by comparing the state of the first radio node and the state of the second radio node at the current time. Here, the current time refers to the state information of the second radio node that is available at the second radio node when the redundancy level is determined.

[0015] Determining the redundancy measure can include at least one, preferably all of the following: - Determining the elapsed time since the last time a message representing a state of the second radio node was transmitted by the second radio node; - Determining a distance between the first radio node and the second radio node based on a position of the first radio node, as represented by the received message, and a position of the second radio node at the current time; - Determining a difference in speed between the first radio node and the second radio node based on a speed of the first radio node as represented by the received message and a speed of the second radio node at the current time; - Determining a difference in the direction of movement between the first radio node and the second radio node based on a direction of movement of the first radio node, as represented by the received message, and a direction of movement of the second radio node at the current time.

[0016] Preferably, the determination of the redundancy measure follows the specification in ETSI TS 103 300-3.

[0017] According to one embodiment, the state of the first radio node and / or the at least one, preferably the plurality of, further radio nodes is stored in the first data memory only if one or more redundancy measures satisfy a defined redundancy criterion. In other words, the specific redundancy measure can be compared with a defined redundancy criterion or threshold. In particular, at least one, preferably all, of the elapsed time, distance, speed difference, and direction of movement are compared with a respective redundancy criterion or threshold.

[0018] If the specified redundancy measure meets the criterion, e.g., if it is below the respective threshold, preferably for each of the elapsed time, distance, speed difference, and direction of travel, the state of the second radio node can be considered redundant with respect to the state of the first radio node. If the specified redundancy measure does not meet the criterion, e.g., if it is equal to or above the respective threshold for at least one of the elapsed time, distance, speed difference, or direction of travel, the state of the second radio node can be considered non-redundant with respect to the state of the first radio node. Consequently, the result of the determination can be that the state of the second radio node is considered either redundant or non-redundant with respect to the state of the first radio node.

[0019] Preferably, the state of the first radio node is stored in the first data memory (only if) the result of the determination indicates that the state of the second radio node is redundant with respect to the state of the first radio node. The state of the second radio node is preferably stored in the second data memory (only if) the result of the determination indicates that the state of the second radio node is redundant with respect to the state of the first radio node. Furthermore, the state of the second radio node can be stored in the second data memory if a message representing the state of the second radio node is transmitted by the second radio node. In both cases, a previously stored state of the second radio node is preferably replaced by the respective state to be stored in the second data memory.

[0020] The state can be stored in the data memory by storing state information that represents, specifies, or characterizes the respective state. For example, to store the state of the first radio node, the received message can be stored in the first data memory.

[0021] The message generation strategy can define one or more conditions for generating a message, preferably representing or indicating the state of a radio node in the wireless communication network. The one or more conditions for verifying the message generation strategy may be based on the state of the second radio node at the current time. - of the state stored in the first data storage, and - The state stored in the second data storage can each be selected from a group that includes at least the following: - An elapsed time since the last time a message representing a state of the second radio node was transmitted by the second radio node is greater than or equal to a defined elapsed time threshold. - An (absolute) difference between the current direction of movement of the second radio node and the direction of movement of the respective radio node, as encompassed by the stored state, is greater than or equal to a defined minimum (absolute) direction of movement difference. - An (absolute) difference between the current speed of the second radio node and the speed of the respective radio node, as encompassed by the stored state, is greater than or equal to a defined minimum (absolute) speed difference. - An (absolute) distance between the current position of the second radio node and the position of the respective radio node, as encompassed by the stored state, is greater than or equal to a defined minimum (absolute) distance. - An (absolute) difference between the current crossing probability of the second radio node and the crossing probability of the respective radio node, as encompassed by the stored state, is greater than or equal to a defined minimum (absolute) difference. - A decision by a road user with one of the radio nodes to join or leave a cluster of road users. - Detection of a road user, preferably a vehicle, at a distance equal to or less than a defined minimum (absolute) lateral and / or longitudinal and / or vertical distance to a road user, preferably a vehicle, with the second radio node.

[0022] The next current time preferably refers to the time of message receipt and / or the determination of the redundancy measure. The next current time preferably refers to the time of verification of the message generation strategy's compliance. Consequently, the next current time is a time that is later than the current time.

[0023] The message generation strategy can be based on or follow the specification in ETSI TS 103 300-3. Preferably, compliance with the message generation strategy is verified based on the state of the second radio node at the current time, with reference to each - of the entire state stored in the first data storage, and - of the preferably last or most recently stored state, which is stored in the second data storage.

[0024] Initiating the transmission of the message may include generating the message and / or selecting radio resources of the wireless communication network for transmitting and / or forwarding the (generated) message, preferably using the selected radio resources.

[0025] The proposed solution aims to improve the effectiveness of redundancy reduction in status message transmission within a wireless communication network. By determining the redundancy level upon message reception, it ensures that only current information is used to check and reduce redundancy in status information. This leads to a further reduction in network congestion, particularly in networks with multiple wireless devices, such as a multi-vehicle intelligent transportation system and vulnerable road users. Simultaneously, it improves the safety of vulnerable road users by preventing the use of outdated status information for redundancy determination and ensuring that only non-redundant, current status information is transmitted.

[0026] In a wireless communication network, e.g., an intelligent transport system, with a plurality of radio nodes, which are e.g., comprised of road users, the use of received redundant information for subsequent message generation checks ensures that currently non-transmitting radio nodes are within a defined spatial proximity to at least one transmitting radio node, since the currently non-transmitting radio nodes refrain from transmission due to the similarity or redundancy of their state to that of the transmitting radio node.

[0027] According to one embodiment, the wireless communication network comprises at least one, preferably a plurality of, further first radio nodes, and the method further comprises performing the following steps for each of the at least one, preferably plurality of, further first radio nodes. - Receiving another message by the second radio node, which represents a state of the respective further first radio node; - Upon receiving the further message, the second radio node determines a redundancy level based on the ◯ of the state of time of the respective further first radio node and ◯ of a state of the second radio node at a corresponding further current time; - Based on the result of the determination, the state of the respective further first radio node is stored in the first data storage and the state of the second radio node at the corresponding further current time is stored in the second data storage by the second radio node.

[0028] The one or more additional first radio nodes can be located at or assigned to one or more road users that are distinct from the road user with the first radio node and the road user with the second radio node. In other words, several additional messages can be received by the several additional first radio nodes, and based on the result of the determination, the states of the respective additional first radio nodes are stored in the same first data memory. When several messages are received from the same radio node, older state information stored in the first data memory is preferably replaced by more recent state information for the same radio node. Furthermore, it is preferred to replace an already stored state of the second radio node each time a current state of the second radio node is to be stored in the second data memory.

[0029] According to one embodiment - the first data storage contains a set, preferably a list, which, based on a result of the determination, represents the state of the first radio node and of at least one, preferably the plurality of, further first radio nodes, and - the sentence is generated by the second radio node by performing the step of receiving, determining and storing the state of the respective (further) first radio node in the first data memory.

[0030] Here, a set of redundant state information is generated for the majority of (additional) first radio nodes as a basis for verifying compliance with the message generation strategy. The set can also be empty if one or more specific redundancy measures indicate that no redundant state information was received by the second radio node. In particular, the set contains redundant state information for which redundancy was determined upon receipt of the respective message, thus preventing redundancy reduction based on outdated state information.

[0031] According to one embodiment, the fulfillment of the message generation strategy is checked on the basis - a first comparison between ◯ the state of the second radio node at the current time and ◯ the state of the second radio node, which was last stored in the second data memory, and - a second comparison between ◯ the state of the second radio node at the current time and ◯ preferably the list of the state of the first radio node and / or the, preferably multiple, further radio nodes, which is stored in the first data memory.

[0032] In other words, the stored states, preferably all of them, are compared with the state of the second radio node at the next available time. Specifically, the second comparison can consist of multiple comparisons, depending on the number of stored states in the first data store. This allows all redundant state information in the first data store to be considered for optimizing redundancy reduction in the network.

[0033] According to one embodiment, message transmission is initiated independently of the first comparison if the second comparison indicates that the message generation strategy is fulfilled, in particular if the message generation strategy is fulfilled for each of the plurality of second comparisons. This ensures the transmission of potentially relevant status information across the network.

[0034] According to one embodiment, the transmission of the message is initiated if - the second comparison indicates that the message generation strategy is not fulfilled, and - the first comparison indicates that the message generation strategy is fulfilled.

[0035] In particular, if the message generation strategy is not met for at least one of the majority of second comparisons, transmission is still initiated if the first comparison indicates that the message generation strategy is met. This ensures that significant changes to the eigenstate of the second radio node in the network are communicated.

[0036] According to one embodiment, the transmission of the message is initiated if - the first data storage does not contain a state of the first radio node and / or of, preferably the majority of, further first radio nodes, and - the first comparison indicates that the message generation strategy is fulfilled.

[0037] In particular, if the first data storage is empty, transmission is initiated if the first comparison indicates that the message generation strategy is fulfilled. This ensures the transmission of potentially relevant state information across the network, provided no redundant state information is received.

[0038] According to one embodiment, the stored state of the first radio node is deleted from the first data memory based on the result of the check, whereby in particular the respective stored state of the one or more (further) first radio nodes is deleted for which the second comparison indicates that the message generation strategy is fulfilled. This ensures that state information is used only once as the basis for deciding whether to initiate the transmission of the second message.

[0039] According to one embodiment, the method further comprises the following: - Based on the result of the test, the state of the second radio node is stored in the second data storage at the current time.

[0040] Preferably, the stored state of the second radio node at the current time is replaced by the state of the second radio node at the next current time. In other words, the second data memory preferably only contains the last or most recently stored state of the second radio node. This optimizes memory resources.

[0041] According to a further aspect of the invention, a wireless communication network is created comprising at least the second radio node according to the second aspect and one or more first radio nodes. The wireless communication network can be configured as an intelligent transport system, and the radio nodes can be arranged at different road users of the intelligent transport system.

[0042] The non-transitory computer-readable storage medium is preferably configured to store the computer program to be executed by a processor of the radio node. The non-transitory computer-readable storage medium comprises RAM, ROM, EEPROM, and any other non-volatile storage device. Description of the characters

[0043] Exemplary embodiments of the present invention are shown in the figures, which are not to be construed as limiting the claims, and are explained in more detail below; they show: Fig. 1 schematically represents a wireless communication network according to an embodiment of the invention; and Fig. Figure 2 schematically represents a method according to an embodiment of the invention.

[0044] Fig. Figure 1 schematically represents a wireless communication network 10. The wireless communication network 10 is configured as a vehicle-to-everything (V2X) network 10. The V2X network 10 can be part of an intelligent transportation system (ITS).

[0045] Network 10 comprises a first radio node 12 located at or supported by a first road user 22, and a second radio node 14 located at a second road user 24. Network 10 includes a plurality of further first radio nodes 12', 12'' located at further first road users 22', 22''. The radio nodes 12, 12', 12'', 14 can be configured as ITS stations 12, 12', 12'', 14.

[0046] According to this embodiment, the first road user 22 is a pedestrian 22, the next first road users 22', 22'' are cyclists 22', 22'', and the second road user 24 is a cyclist 24. In other words, the road users 22, 22', 22', 24 are so-called vulnerable road users (VRUs).

[0047] To increase road safety and traffic efficiency, network 10 can be configured to enable cooperative attention between road users 22, 22', 22', 24, in particular through the regular exchange of information, e.g., regarding their mutual position, dynamics, and attributes, among road users 22, 22', 22', 24 within network 10. Specifically, attention messages M1, M1', M1'', M2 can be exchanged between road users 22, 22', 22', 24 on a regular or continuous basis. The attention messages M1, M1', M1'', M2 can be broadcast as M1, M1', M1'', M2 within network 10, e.g., using a (preferably direct) wireless communication channel between road users 22, 22', 22', 24. B. based on IEEE specifications such as ITS-G5 or dedicated short-range communication (DSRC), or based on 3GPP specifications such as cellular V2X.

[0048] The radio nodes 12, 12', 12'', 14 can be configured to transmit the respective attention message M1, M1', M1'', M2 at intervals specified by a minimum value, e.g., 100 ms, and a maximum value, e.g., 5000 ms. In particular, the time between two consecutive messages transmitted by the same radio node 12, 12', 12'', 14 can depend on a message generation strategy, preferably with a plurality of message generation conditions.

[0049] In addition to taking the message generation strategy into account, the radio nodes 12, 12', 12'', 14 can be configured to determine a redundancy measure to reduce the transmission of redundant state information in network 10, thus avoiding congestion in network 10.

[0050] More precisely, the first radio node 12 is configured to transmit the message M1, which represents a state of the first radio node 12. The state of the first radio node 12 can include at least one, preferably all, of its position, speed, and direction of movement. The second radio node 14 is configured to receive the message M1 transmitted by the first radio node 12.

[0051] To avoid using outdated state information for redundancy reduction, the second radio node 14 is further configured to determine a redundancy measure upon receiving message M1. The redundancy measure is determined based on the state of the first radio node 12, as represented by message M1, and a state of the second radio node 14 at a current time, e.g., at the time of receiving message M1 and / or determining the redundancy measure. The state of the second radio node 14 can include at least one, preferably all, of its position, speed, and direction of movement.

[0052] Preferably, the second radio node 14 is configured to determine the degree of redundancy. - to determine a time that has elapsed since the last time a message representing a state of the second radio node 14 was transmitted by the second radio node 14, and / or - to determine a distance between the first radio node 12 and the second radio node 14 based on a position of the first radio node 12, as represented by the received message M1, and a position of the second radio node 14 at the current time, and / or - to determine a difference in speed between the first radio node 12 and the second radio node 14 based on a speed of the first radio node 12 as represented by the received message M1, and a speed of the second radio node 14 at the current time, and / or - to determine a difference in the direction of movement between the first radio node 12 and the second radio node 14 based on a direction of movement of the first radio node 12, as represented by the received message M1, and a direction of movement of the second radio node 14 at the current time.

[0053] Furthermore, to determine the degree of redundancy, the second radio node 14 is configured to compare at least one, preferably all, of the elapsed time, distance, difference in speed, and difference in direction of travel with a respective threshold value. If the determined degree of redundancy is below the respective threshold value, preferably for each of the elapsed time, distance, difference in speed, and difference in direction of travel, the state of the second radio node 14 is defined as redundant with respect to the state of the first radio node 12. If the determined degree of redundancy is equal to or above the respective threshold value for at least one of the elapsed time, distance, difference in speed, and difference in direction of travel, the state of the second radio node 14 is defined as non-redundant with respect to the state of the first radio node 12.

[0054] The second radio node 14 is further configured to store the state of the first radio node 12 in a first data memory and the state of the second radio node 14 in a second data memory, based on a result of the determination, in particular (only if) the state of the second radio node 14 is determined to be redundant with respect to the state of the first radio node 12.

[0055] Furthermore, the second radio node 14 is configured to check the fulfillment of a message generation strategy based on - a state of the second radio node 14 at another current time, - the (one or more) states that are stored in the first data storage, and - the state stored in the second data storage, as further detailed in Fig. 2 shown.

[0056] Furthermore, the second radio node 14 is configured to initiate a transmission of message M2, which represents the state of the second radio node 14 at the current time, based on a result of the test, in particular (only) if the message generation strategy is fulfilled.

[0057] In other words, it is proposed to check the redundancy of the eigenstate of the second radio node 12 and the received state message M1 at the moment of reception and to use the received redundant information for subsequent message generation checks. The main advantage is the use of only current information, as opposed to the potential use of outdated and invalid information. This method also improves the similarity between two objects identified as redundant, compared to the procedure outlined in ETSI TS 103 300-3 V2.2.1.

[0058] Fig. Figure 2 schematically illustrates a method 100 for initiating the transmission of a message representing a state of a radio node of a wireless communication network, according to an embodiment of the invention. The wireless communication network can be the network 10 according to Fig. Be 1.

[0059] The procedure 100 comprises a step 110 for receiving a message by the second radio node 14, which represents a state S1 of the first radio node 12. The reception 110 of the message can include listening 112 to transmissions in the network 10 and checking 114 whether the message was successfully received by the second radio node 14.

[0060] The procedure 100 includes a step 120 for determining a redundancy measure when the message is received by the second radio node 14 based on - of state S1 of the first radio node 12 and - of a state S2 of the second radio node 14 at a current time. Determining 120 the redundancy measure can include calculating 122 one or more redundancy measures according to redundancy reduction rules based on the state S1 of the first radio node 12 and the state S2 of the second radio node 14 at the current time, and determining 124 on the basis of the calculation 122, in particular by comparing one or more redundancy criteria with respective redundancy criteria, whether the state S2 of the second radio node 14 is redundant to the state S1 of the first radio node 12.

[0061] The procedure 100 comprises a step 130 for storing the state S1 of the first radio node 12 in a first data memory and the state S2 of the second radio node 14 in a second data memory by the second radio node 14 based on a result of the determination 120. Analogously, the state S1' of another first radio node 12' is stored in the first data memory, resulting in a set of state information {S1, S1', ...} stored in the first data memory.

[0062] The procedure 100 includes a step 140 for checking whether the second radio node 14 has fulfilled a message generation strategy based on - a state of the second radio node 14 at another current time, - of the state {S1, S2, ...}, which is stored in the first data store, and - of state S2, which is stored in the second data memory.

[0063] Checking 140 the fulfillment of a message generation strategy may include determining 142 one or more message generation indicators and comparing 144 the one or more determined message generation indicators with respective thresholds.

[0064] According to this embodiment, the fulfillment of the message generation strategy is checked on the basis - a first comparison between ◯ the state of the second radio node 14 at the current time and ◯ the state of the second radio node 14, which was last stored in the second data memory, and - a second comparison between ◯ the state of the second radio node 14 at the current time and ◯ preferably the list of the state of the first radio node 12 and / or of, preferably the plurality of, further radio nodes 12', 12'', which is stored in the second data memory.

[0065] In other words, one or more news generation indicators are determined on the basis - the status of the second radio node 14 at the current time and - the state of the second radio node 14, which was last stored in the second data memory.

[0066] Furthermore, one or more news generation indicators are determined based on - the status of the second radio node 14 at the current time and - preferably the list of the state of the first radio node 12 and / or of, preferably the plurality of, further radio nodes 12', 12'', which is stored in the first data memory.

[0067] Consequently, the fulfillment of the message generation strategy is determined both with reference to the state of the second radio node 14, which was last stored in the second data memory, and with reference to the state stored in the first data memory.

[0068] If the first data memory does not contain a state of the first radio node 12 and / or of, preferably the plurality of, further first radio nodes 12', 12'', in particular if the first data memory is empty, the transmission of the message is initiated when the first comparison indicates that the message generation strategy is fulfilled. In this case, performing the second comparison is unnecessary.

[0069] If the first data storage contains at least one state of the first radio node 12 and / or of, preferably a plurality of, further first radio nodes 12', 12'', the second comparison is performed. If the second comparison indicates that the message generation strategy is not fulfilled, but the first comparison indicates that the message generation strategy is fulfilled, the transmission of the message is initiated. If the second comparison indicates that the message generation strategy is fulfilled, the transmission of the message is initiated regardless of the first comparison. Preferably, the respective stored state of the first radio node 12 and / or the (plural of) further first radio nodes 12', 12'' for which the second comparison indicates that the message generation strategy is fulfilled is deleted from the first data storage.

[0070] The procedure 100 comprises a step 150 for initiating a transmission of a message M2, which represents the state of the second radio node 14 at the further current time, by the second radio node 14 on the basis of a result of the test 140, in particular if the message generation strategy is fulfilled.

[0071] In other words, for the example of network 10 with VRUs 12, 12', 12'', 14 according to Fig. 1. As soon as the intrinsic VRU 14 receives a VAM M1, this intrinsic VRU 14 immediately checks whether the received VAM M1 is redundant to its current intrinsic state S2. The redundancy reduction check is preferably based on the rules and quantities as defined in ETSI TS 103 300-3 V2.2.1: - The elapsed time since the last time a VAM was transferred through the origin VRU ITS-S does not exceed a defined first size “numSkipVamsForRedundancyMitigation” (e.g. 4) times a defined second size “T_GenVamMax”. - The Euclidean absolute distance between the current estimated position of the reference point and the estimated position of the reference point in the received VAM from an equivalent ITS-S is less than a defined third quantity “minReferencePointPositionChangeThreshold”. - The difference between the current estimated velocity of the reference point and the estimated absolute velocity of the reference point in the received VAM from an equivalent -ITS-S is less than a defined fourth quantity “minGroundSpeedChangeThreshold”. - The difference between the orientation of the current estimated ground velocity vector and the estimated orientation of the ground velocity vector of the reference point in the received VAM from an equivalent ITS-S is less than a defined fifth quantity “minGroundVelocityOrientationChangeThreshold”.

[0072] If the received message M1 is not redundant, no action is taken. However, if the message M1 is redundant to the eigenstate S2, the eigen VRU 24 saves its eigenstate as if it had sent its own VAM and also stores the received VAM in a list of redundant VAMs.

[0073] The Eigen-VRU 24 checks whether it meets the generation rules for sending a new individual VAM, based on the information from the last generated Eigen-VAM. This information can be affected by the mitigation process, as explained previously. In addition to checking against the last Eigen-VAM, the Eigen-VRU 24 now also compares its current state against the received redundant VAMs as follows: If the list of redundant VAMs is empty, no further check is required, and the decision to send a new VAM depends solely on the data from the last own VAM. If at least one redundant VAM is present in the list, a new check is performed. The own VRU 24 checks whether the generation rules are met by comparing its current own data with the data from the redundant VAMs. For example, a VRU must send a new VAM if it has moved 4 meters. If the current position of the own VRU 24 differs from the position in the redundant VAM by 4 meters, the generation rules are met in relation to this message.

[0074] If at least one redundant VAM in the list fails to meet the generation rules, the Eigen-VRU 24 will only send a new VAM if it meets the rules based on the latest Eigen-VAM information. If all VAMs in the list meet the generation rules, the Eigen-VRU 24 will always send a new VAM. Any redundant VAM that meets the generation rules will be removed from the list. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited non-patent literature

[0000] ETSI TS 103 300-3 V2.2.1

[0001]

Claims

Method (100) for initiating the transmission of a message (M2) representing a state of a radio node (14) of a wireless communication network (10), wherein the wireless communication network (10) comprises a first radio node (12) and a second radio node (14), and the method (100) comprises: - receiving (110) a message (M1) by the second radio node (14) representing a state of the first radio node (12); - upon receiving the message (M1), determining (120) a redundancy measure by the second radio node (14) based on the state of the first radio node (12) and the state of the second radio node (14) at a given time; - based on the result of the determination (120), storing (130) the state of the first radio node (12) in a first data memory and the state of the second radio node (14) in a second data memory by the second radio node (14);- Checking (140) whether the second radio node (14) has fulfilled a message generation strategy based on: ◯ the state of the second radio node (14) at a further current time, ◯ the state stored in the first data memory, and ◯ the state stored in the second data memory; based on a result of the check (140), initiating (150) a transmission of a message (M2) by the second radio node (14) representing the state of the second radio node (14) at a further current time.; Method (100) according to claim 1, characterized in that the wireless communication network (10) comprises at least one, preferably a plurality of, further first radio nodes (12', 12'') and the method (100) further comprises performing the following steps for each of the at least one, preferably the plurality of, further first radio nodes (12', 12''): - receiving a further message (M1', M1'') by the second radio node (14) which represents a state of the respective further first radio node (12', 12''); - upon receipt of the further message (M1', M1'') determining a redundancy measure by the second radio node (14) on the basis of the state of the respective further first radio node (12', 12'') and a state of the second radio node (14) at a corresponding further current time;- based on the result of determining the storage of the state of the respective further first radio node (12', 12'') in the first data memory and the state of the second radio node (14) at the corresponding further current time in the second data memory by the second radio node (14).; Method (100) according to claim 2, characterized in that - the first data storage contains a set, preferably a list, which, based on a result of the determination, represents the state of the first radio node (12) and of the at least one, preferably the plurality of, further first radio nodes (12', 12''), and - the set is generated by the second radio node (14) by performing the steps of receiving, determining and storing the state of the respective (further) first radio node (12', 12'') in the first data storage. Method (100) according to one of the preceding claims, characterized in that the state of the first radio node (12) and / or of the at least one, preferably the plurality of, further first radio nodes (12', 12'') is stored in the first data memory only if one or more specific redundancy measures satisfy a defined redundancy criterion. Method (100) according to one of the preceding claims, characterized in that the fulfillment of the message generation strategy is checked on the basis of a first comparison between the state of the second radio node (14) at the next current time and the state of the second radio node (14) that was last stored in the second data memory, and a second comparison between the state of the second radio node (14) at the next current time and preferably the list of the state of the first radio node (12) and / or the, preferably the plurality of, further radio nodes (12', 12'') that is stored in the first data memory. Method (100) according to claim 5, characterized in that the transmission of the message (M2) is initiated independently of the first comparison if the second comparison indicates that the message generation strategy is fulfilled. Method (100) according to claim 5 or 6, characterized in that the transmission of the message (M2) is initiated if - the second comparison indicates that the message generation strategy is not fulfilled, and - the first comparison indicates that the message generation strategy is fulfilled. Method (100) according to one of claims 5 to 7, characterized in that the transmission of the message (M2) is initiated if the first data storage does not contain a state of the first radio node (12) and / or of the, preferably the plurality of, further first radio nodes (12', 12''), and the first comparison indicates that the message generation strategy is fulfilled. Method (100) according to one of claims 5 to 8, characterized in that the stored state of the first radio node (12) is deleted from the first data storage on the basis of a result of the test, wherein in particular the respective stored state of one or more (further) first radio nodes (12', 12'') is deleted for which the second comparison indicates that the generation strategy of the message (M) is fulfilled. Method (100) according to one of the preceding claims, characterized in that the method (100) further comprises: - on the basis of a result of the test, storing the state of the second radio node (14) at the next current time in the second data storage. Radio node (14) of a wireless communication network (10) configured to perform the steps of the method (100) according to one of the preceding claims. Road user (24) with the radio node (14) according to claim 11. Computer program containing instructions which, when the program is executed by the radio node (14) according to claim 11, cause the radio node (14) to perform the steps of the method (100) according to any one of claims 1 to 10. Computer-readable data carrier on which the computer program according to claim 13 is stored.

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