METHOD AND MESSAGE GENERATION DEVICE FOR PROVIDING OBJECT MESSAGES - Patent application

Abstract

The present invention relates to a method (100) for providing an object message (1010) including selected information about a surrounding area of ​​a participant in a communication network, the method (100) including the steps of: acquiring selected information about the surrounding area including a perceived object and / or the perceived area, wherein the selected information is segmented into at least a first message item and a second message item; receiving or estimating a maximum data rate for transmitting the object message (1010); determining an optimized data size and an optimized message generation period for the object message (1010); and providing the object message (1010) having the optimized message generation period and optimized data size to be transmitted over the communication network. The present invention also relates to a message generation device, a participant including the message generation device, a computer program product, and a computer-readable data carrier.

Description

[Technical Field]

[0001] DE 10 2019 218 916 A1 discloses a method for transmitting messages over a communication network, in which message segments to be transmitted are filtered according to their priority value. [Background technology]

[0002] Core and Advantages of the Invention Currently, traffic automation and vehicular communication are considered to be the most promising technologies to mitigate the negative impacts of increasing traffic density. Various V2X (Vehicle to Anything) communication links are being developed, such as: V2V (Vehicle to Vehicle), V2I (Vehicle to Infrastructure), I2V (Infrastructure to Vehicle), V2VRU (Vehicle to Vulnerable Road User), V2N (Vehicle to Network), and / or N2V (Network to Vehicle).

[0003] Collective perception is the concept of sharing a station's perceived environment based on perception sensors. In other words, it is the concept of using V2X communication technology to actively exchange locally perceived objects between various participants, particularly vehicles or roadside ITS-S, equipped with sensors, such as video cameras, radar, or LIDAR sensors, using object messages, specifically Collective Perception Messages (CPM) or Sensor Data Sharing Messages (SDSM). Collective perception aims to share information about the current driving environment between connected stations, such as Intelligent Transport System Stations (ITS-S) in the ITS subsystem. This includes the definition of the syntax and semantics of object messages, as well as detailed specifications for data and message processing to cooperatively enhance environmental awareness.

[0004] The European Telecommunications Standards Institute (ETSI) is currently proposing a service for collective perception for standardization in the EU. Collective perception is based on object messages about a road user's instantaneous surroundings that are sent to or received from other connected stations (e.g., other vehicles, pedestrians, or infrastructure elements) via V2X communications, as described, for example, in ETSI TR 103 562, Intelligent Transport System (ITS); Vehicular Communications; Basic Set of Applications; Analysis of the Collective Perception Service (CPS). Similar V2X services have been or are being standardized in other parts of the world.

[0005] Infrastructure systems, such as roadside sensors or data servers, can support vehicles in their driving tasks by providing additional information that the vehicle's onboard sensors cannot generate themselves, or can generate only to a limited extent. This additional information generated by the infrastructure can be a list of perceived objects that can be transmitted to the vehicle or other road users using so-called object messages. Object messages provide an Intelligent Transport System Station (ITS-S) with the ability to share information about surrounding objects detected by sensors (e.g., radar, LIDAR, cameras, etc.) or other sources with the sending road user. Object messages may contain information about the originating ITS-S itself, its sensor capabilities, and the detected / perceived objects. For this purpose, object messages can provide generic data elements to describe detected objects within the originating ITS-S's frame of reference.

[0006] Vehicles and infrastructure exchange sensor-detected objects with nearby vehicles. Each vehicle can receive a list of sensor-based perceived objects from other participants, thus increasing redundancy for sensor fusion. This allows for increased reliability in applications such as (partially) automated driving, using the received information of object messages containing perceived objects. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] German Patent Application Publication No. 102019218916 Summary of the Invention [Problem to be solved by the invention]

[0008] The invention described herein below is particularly relevant to object messages in infrastructure systems, but is also applicable to other stations and other object messages, particularly V2X messages.

[0009] The present invention includes a method for object message generation cycle and content management. The present invention relates to a method for providing an object message, a message generation device, a participant comprising a message generation device, a computer program product, and a computer readable data carrier.

[0010] The benefits of the concept of a perception service, such as a CPS providing object messages, include reducing participants' ambient uncertainty regarding their current environment by enabling them to perceive more objects and improving the quality of perceived / recognized object data. The perception service defines object messages that enable the originating ITS-S to share information about detected objects. Object messages are transmitted periodically with an adaptive message generation rate to reduce the resulting channel load while focusing on reporting changes in the dynamic road environment.

[0011] The advantage of the present invention, including the features of the independent claims, is that it allows for enhanced use of the resources of the communication network and provides reliable information about the surrounding area of ​​participants, e.g. road users, vehicle ITS-S, roadside ITS-S, etc. [Means for solving the problem]

[0012] This is achieved by a method for providing an object message containing selected information about a surrounding area of ​​a participant in a communication network, as claimed in claim 1. In particular, the participant is a sending participant that provides an object message for other participants. The method comprises: - acquiring selected information about a surrounding area including the perceived object and / or the perceived area, wherein the selected information is segmented into at least a first message item and a second message item; receiving a maximum data rate for transmitting object messages from a communication management entity or estimating a maximum data rate for transmitting object messages; determining an optimized data size of the object message and an optimized message generation period, determining a first relevance weight for the first message item in response to a content of the first message item and determining a second relevance weight for the second message item in response to a content of the second message item; A step of defining an optimization function, comprising at least a first relevance weight and generation period of the first message item; and A second relevance weight and generation period for the second message item. and a step dependent on optimizing the optimization function to determine an optimized message generation period and an optimized data size of the object message, taking into consideration that the optimized data size divided by the optimized message generation period is equal to or less than the maximum data rate; and determining by performing providing an object message to be transmitted over a communication network, the object message having an optimized message generation period and an optimized data size; Includes.

[0013] The reciprocal of the generation period is called the frequency. The surrounding area of ​​a participant is the participant's environment, which may include free space areas and / or objects, such as infrastructure elements, pedestrians, other vehicles or ITS-S, bicycles, etc. The surrounding area of ​​a participant is an area that at least partially surrounds the participant. In particular, the surrounding area refers to an area in which the participant is performing an action, such as staying, moving, driving, etc.

[0014] "Selected information about the surrounding area" may be understood as including all available information about the participant's surrounding area, or at least information about the surrounding area selected for transmission. With the current object message generation event, objects from the participant's list of perceived objects that have a sufficient confidence level and are not subjected to redundancy mitigation techniques may be selected for transmission. The selection for transmission may also include further criteria, such as the reliability of the object information, the object class, the perception time, etc.

[0015] The objects selected for transmission may be included in the object message in descending order with respect to a utility function per object, defined as the sum of the following parameters: ·p conf (Object existence confidence function) ·p pos / speed / head (A function of the object's state change since it was last included in the object message (position, velocity, orientation)) ·p time (A function of the time since the object was last included in an object message).

[0016] Furthermore, the current object message generation event may cause perceived regions, such as free space regions, particularly 2D or 2D+ regions, or regions with free space reliability different from the default value, to be selected for transmission.

[0017] Each object message includes at least one message item, preferably one message item, or more preferably two or more message items. The message items have different expected values ​​for the vehicular network, which are represented by their relevance weights, or in other words, their information value. Each object message includes a protocol header that does not carry any information about the traffic environment but still consumes channel resources.

[0018] A message item may include detected objects, sensor specifications, detected (perceived) areas, etc. For example, a message item includes at least one perceived object and / or perceived area. Message items have different expected values ​​for the vehicular network, represented by their relevance weights.

[0019] The payload of the object message containing the selected information may be provided, for example, by a perception service. The payload is the portion of data selected for transmission that is the actual intended message. The header and metadata are only transmitted to enable payload delivery. The payload is segmented into message items.

[0020] A perception service may be an application support function provided by the facility layer that builds, manages, and processes object messages delivered from the infrastructure to end users and vice versa based on payloads received from applications. Perception services may support infrastructure-based applications to achieve communication interoperability and may be implemented in parallel with other services within ITS-S. The perception service merges headers with payloads to build object messages. The object messages / object message segments are then delivered to other participants via the communication network.

[0021] The payload may be generated by an ITS application and / or perception service within the sending participant or another connected ITS-S. At the sending participant, the transmission of the object message may be triggered by an application, the perception service itself, or a transport mechanism. For this purpose, the application may connect to other entities in the facility layer or external entities to collect relevant information for the generation of the payload, i.e., to acquire selected information about the participant's surrounding area. Once an object message or object message segment has been generated, for example by segmentation, determining the object message (segment) generation period and data size, and providing the object message (segment), the perception service may repeat the transmission until the application requests the end of the transmission or triggers another request to generate an updated object message.

[0022] At the receiving participant, the received object message is processed by a perception service, and the information in the object message is delivered to an application or other facility layer entity. In one typical application, the object message is sent by a roadside unit, and then the object message is sent to vehicles within a target destination area. Within this area, the information contained in the object message is considered relevant to the traffic participant.

[0023] The communication network, in particular the vehicular communication network, comprises a network for traffic coordination, for example a V2X communication mechanism. Transmittable object messages or transmittable object message segments can be transmitted via a communication link between users of the communication network, in particular a wireless communication link, for example a WLAN, Bluetooth, or cellular communication link. Participants are connected to other participants via the communication network. The communication network may comprise at least one channel. The communication network may also comprise multiple channels, in particular two or more channels.

[0024] Participants may be equipped with sensors (e.g., radar, LIDAR, cameras, etc.), especially fixed sensors. From these sensors, participants can obtain information about their surrounding area, such as object information. This information can be transmitted to other ITS-Ss (e.g., via collective perception services).

[0025] Participants can also receive object messages or object message segments, in particular CPMs and / or cooperative awareness messages (CAMs), and forward these object messages or object message segments to other ITS-Ss. Additionally or alternatively, participants can aggregate information from received messages / message segments into new object messages.

[0026] Participants may be understood to mean, for example, Intelligent Transport System-Station (ITS-S), road users such as (autonomous) vehicles (cars, trucks, buses, etc.), bicycles, vulnerable road users (e.g. pedestrians), roadside units, Multi-Connectivity Edge Computing (MEC), mobile networks (cellular networks), etc. Roadside units are equipped with fixed sensors and are able to acquire object information from the attached fixed sensors and broadcast detected objects to surrounding ITS-S by means of object messages.

[0027] Participants can receive and send information. In other words, a participant can acquire information to provide an object message and provide information about its surrounding area to other (receiving) participants, but when acquiring information, the participant can also receive object messages or object message segments from other (sending) participants and use the surrounding information from the other participants to generate its surrounding model.

[0028] For example, the step of obtaining the selected information may further include the steps of: receiving all available information about the surrounding area, selecting information for transmission from all available information about the surrounding area; Alternatively, all available information may be selected for transmission, where all available information corresponds to selected information about the surrounding area.

[0029] For example, acquiring information about the surrounding area may include providing a list of perceived objects. This step may be performed, for example, by an object fusion system. Sensors attached to the participant provide raw sensor data as a result of their measurements, which may be used by a sensor-specific object fusion system to provide a list of perceived objects detected by the sensor measurements. The measured sensor data (raw sensor data) is specific to the type of sensor (e.g., reflectance, time-of-flight, point cloud, camera image, etc.). In the context of surrounding area perception, this data is typically evaluated by a sensor-specific analysis process to detect and calculate mathematical expressions for the perceived objects. The object fusion system may provide and maintain a list of perceived objects currently perceived by the participant. The object fusion mechanism may:

[0030] Predicting each object at times when measurements from the sensors are not available, Associating objects from other potential sensors attached to the participant or received from other participants with objects in the tracking list; Merging predictions and updated measurements of the object.

[0031] Thus, at each point in time, the object fusion system can provide an updated list of perceived objects. Additional information from other participants (e.g., CPM, CAM, etc.) may be further fused with the locally perceived information. In other words, the selected information about the surrounding area may include information obtained from various sources, such as information from the participant's sensor system, information received from other ITSs, or object messages.

[0032] The object fusion system may add new objects to the list of recognized objects and may update objects already tracked by the object fusion system. Additionally, the object fusion system may remove objects from the list of perceived objects if the new measurements cannot be associated with an object already tracked.

[0033] Object fusion can be done by individual sensors or by a high-level data fusion process. The object fusion system can also classify perceived objects.

[0034] If no objects are detected or selected for transmission, the list of perceived objects may become an empty list, and participants may continue to generate object messages periodically to report that they have detected and can share objects.

[0035] The perceived objects may be other participants, vehicles, ITS, pedestrians, infrastructure elements, etc. The perceived objects may be relevant to road safety and, in particular, may be either static (i.e., not moving but in the travel lane) or dynamic (i.e., moving or capable of moving).

[0036] A communication management entity, such as a communication management service or a multi-channel operation function, provides a maximum data rate for transmitting object messages. In other words, the communication management entity provides information about the maximum number of bits that can be transmitted per unit time (a bit upper limit). Additionally or alternatively, message statistics can be used to estimate the maximum data size. For example, the maximum data size can be selected as the maximum size of all received messages within a given period. The maximum data size may further correspond to a certain threshold, such as a 2-sigma interval, taking into account received or expected transmitted messages.

[0037] The relevant "maximum data size" may depend for example on the maximum transmission unit. In particular, the maximum data size is less than or equal to the maximum transmission unit of the access layer technology over which the object messages are transported. There is another constraint that the maximum data size must satisfy, namely that the maximum data size divided by the object message rate is less than or equal to the maximum data rate provided by the communication management entity or by the estimation step. In particular, the communication management entity enables predictable access to the communication network.

[0038] An object message may consist of a header and at least one management container that contains information about the participant, in particular at least one of the originating participant's at least one sensor, generation time, station type, reference position (e.g., three-dimensional coordinates), etc.

[0039] Furthermore, the object message may comprise additional containers, for example: Station Data Container It comprises an originating vehicle container or an originating roadside unit (RSU) container, and contains, among other things, dynamic information of the originating participant (vehicle), such as heading, azimuth angle, speed, acceleration, yaw rate, etc.

[0040] Sensor information container This includes, for example, sensor information such as a description of the transmitting participant's perceptual capabilities, the distinction between RSUs and vehicles, and possibly an abstract description of the sensor range (e.g., circular, polygonal, rectangular, elliptical; sensor range orientation, sensor minor / major axis range lengths, node coordinates, etc.).

[0041] ·Sentient Object Container This includes the perceived objects, in particular the list of perceived objects, providing timing, position and pose information about the detected objects, a 3D representation of the objects to the originating participant, together with the corresponding correlation matrix; and / or The Add Free Space container or the Perceived Area Specification container may contain an indication of the free space confidence and whether to apply shadowing within the corresponding perceived area. Additionally, the Add Free Space (Perceived Area Specification) container can be added if the free space derived by the receiver from the originating participant's sensor specification is inaccurate.

[0042] The method includes object message generation frequency and content management. Different production rules for object message generation apply to each container type. Exemplary production rules may be at least some of the following:

[0043] · The originating vehicle container is included in every object message. The sensor information container is included at a frequency of 1Hz. The frequency set for the Perceptual Object Container and Perceptual Area Specification Container is between 1 and 20 Hz depending on the load of the communication channel.

[0044] Detected (perceived) objects, in other words, message items containing perceived objects, are added to the object message according to inclusion criteria such as, for example, the dynamic state of the object (speed, acceleration, etc.), the measurement confidence level of the object, the redundancy of the object, the type of object (e.g., vulnerable road users (VRUs)), and / or the V2X network's current knowledge about the perceived object.

[0045] The detected (perceived) region, in other words, the message item containing the perceived region, may be added to the object message according to inclusion criteria such as, for example, the dynamic state of the region (speed, acceleration, etc.), the free space confidence level of the region, the size of the region, the position of the region relative to surrounding traffic participants, the redundancy of the region, and / or the current knowledge of the V2X network about the perceived region.

[0046] Based on object inclusion rules, at least a subset of perceived objects is selected for transmission. The capacity of the communication channel provided by the communication management entity defines the number of these objects that are ultimately selected for transmission. Objects that are better known by the potential receiver may be omitted as they are considered redundant.

[0047] As long as the resulting encoded message data size of the generated object message is equal to or smaller than the maximum data size (particularly, the larger the message, the more likely it is to be lost, so the message should be smaller than the maximum data size), the object message can contain message items. The optimization step provides generation rules for generating object messages using message items. Specifically, for each message item, an optimized generation period is determined during optimization. The optimized message generation period and optimized data size are determined by this set of optimized generation periods and data sizes of message items, similar to, for example, a talent scheduling problem or a nurse scheduling problem.

[0048] In other words, the optimization step can determine how many and / or which message items the object message (=object message content) can contain in the current object message generation event, as well as how frequently the object message is generated (object message generation period).

[0049] Each object message is transmitted at the next transmission opportunity. If the object message becomes larger, for example because many perceived objects / areas / message items are selected for transmission, it may be necessary to split the message into object message segments before transmission, which are then transmitted consecutively.

[0050] If the data size of an object message including all message items and having a fixed generation cycle is larger than a given maximum data size, the object message including at least some message items and having a fixed generation cycle may not be transmittable. In this case, the object message may be segmented into object message segments with reduced data size. To check whether the object message should be segmented, the following steps may be performed.

[0051] ·Compare the optimized data size of the object message with the given maximum data size. If the calculated or estimated data size of the object message is larger than the given maximum data size, Segmenting the object message into at least a first object message segment and a second object message segment.

[0052] These steps can be repeated until the criterion (= the data size of the object message segment is smaller than a given maximum data size) is met, or in other words, until the generated object message segment can be sent.

[0053] The given maximum data size may be equal to the maximum data size provided by the communication management entity and / or may be smaller than the maximum data size if further constraints apply, such as channel conditions (channel occupancy) or a fixed generation period of individual object message segments (e.g., if the perceived object is a child playing on the street, the object message segment containing the child should be transmitted at the highest possible frequency. Therefore, the frequency of said message items can be fixed during optimization and can thus be treated as a further limitation / constraint in the optimization step. The optimized generation period of the associated object message corresponds to the reciprocal value of the generation frequency).

[0054] For example, an object message (segment) is a collective perceptual message (CPM). The "generation period" is the reciprocal value of the generation frequency. In other words, the generation period of an object message represents the time between transmissions of the object message. In other words, after an object message is transmitted, the time until another object message is transmitted is equal to the generation period.

[0055] Generation period and data size are interdependent parameters. If the maximum data rate offered by the communication management entity does not allow all object message payloads (= message items) to be transmitted at the maximum frequency (= minimum generation period), an optimization step must make a trade-off. From the perspective of payload efficiency, a reduction in the object message rate may be preferable (less message overhead is transmitted). From the perspective of latency, a reduction in the object message size may be preferable. For example, if 20 perceived objects are selected for transmission, the data size of each perceived object is 50 bytes, the object message overhead is 100 bytes, and the channel upper limit is 2000 bytes per second, there are at least two ways in which these objects can be transmitted:

[0056] 1. An object message containing 18 perceived objects is transmitted at an object message rate of 2 Hz.

[0057]

number

[0058] 2. An object message containing two perceived objects is sent at an object message rate of 10 Hz.

[0059]

number

[0060] The first option is to use 36 perceived objects.

[0061]

number

[0062] , while the second option is to send 20 perceived objects.

[0063]

number

[0064] is transmitted, but allows for a higher update rate. A compromise should be found between these options depending on various criteria. The constraints of the optimization function include these criteria, and these criteria can be used to systematically determine an optimized generation frequency and an optimized data size for each associated object message segment. The optimized generation frequency and optimized data size are the result of an optimization step of the optimization function that takes into account constraints arising from various data sources.

[0065] In general, the relevance weight of a message item depends on the content of the message item. The relevance weight for a message item may depend at least on the relevance value of at least one perceived object or region included in the message item. Furthermore, the relevance weight may depend on the confidence level of the perceived object or region.

[0066] The optimization function may be, for example, a composite latency, a cost function, or a trainable function. In particular, the optimization function may be selected from one of the following functions:

[0067]

number

[0068] Here, crit i is the time importance, which depends on or is equal to the relevance weight, T i is the time between transmissions of the same object message segment i.

[0069]

number

[0070] where P is the size Σ i B i is the probability of finding a suitable channel gap for the object message, B i is the size of the object message segment B when object message segment i is sent. i and 0 otherwise. P corresponds to the integral of the likelihood that the gap will be larger than the calculated or estimated message size.

[0071] In the simplest case, optimization of an optimization function, in particular mathematical optimization of an optimization function, consists of maximizing or minimizing the optimization function by systematically selecting input values ​​from within an admissible set (where the admissible set is bounded at least by the maximum data rate and the payload / maximum data size of the object message, which may include further constraints, in particular equalities or inequalities that the optimized generation period and optimized data size must satisfy) and calculating the value of the optimization function.

[0072] For example, the constraints may depend on at least one of the following: Maximum data rate, The relevance of the perceived object. For example, there may be a message item that should be transmitted at a fixed (high) generation frequency.

[0073] Channel feedback, Message statistics, the type of transmitting participant (e.g., roadside unit or vehicle), the relevance of object message segments sent by other participants; Maximum optimization time.

[0074] If the optimization provides multiple solutions (multiple extrema), the optimized generation period and optimized data size may be one of the solutions provided in the optimization step. There may be a maximum time for the optimization. In that case, the optimized generation period and optimized data size may be the best solution, e.g., resulting in the minimization of the optimization function compared to other solutions provided within the time limit.

[0075] According to one embodiment, the object messages are generated with an optimized data size in mind and are transmitted over the communication network with an optimized generation period. At the sending participant, the transmission of an object message is triggered by an application or a transport mechanism. Once a message is generated and provided, the perception service can repeat the transmission until the application requests an end to the transmission or triggers another request to provide an updated message. At the receiving participant, the message is processed by a service, and the message content is delivered to an application or other facility layer entity. In one typical application, a message is sent by a roadside ITS-S to be dispatched to vehicle ITS-S within a target destination area. Within this area, the information contained in the message is considered relevant to the traffic participants.

[0076] According to one embodiment, the step of providing the object message comprises: - if the optimized data size is greater than the given maximum data size, segmenting the object message into at least a first object message segment and a second object message segment; - providing a first object message segment having an optimized message generation period and a second object message segment having an optimized message generation period to be transmitted over a communication network; Includes.

[0077] Each object message segment is transmitted at the next transmission opportunity. In particular, the object message segments may be transmitted in parallel using different channels of the communication network.

[0078] According to one embodiment, a relevance weight is determined for each message item based on at least one of the following information: the message's name; The perceived importance of the object (e.g. high importance for pedestrians on the road, low importance for objects that have already been transmitted recently. In particular, road users with a specific emergency role, such as police vehicles or ambulances, may also belong to high object importance). The higher the object importance (e.g. risk of collision with another object), the more relevant it is.

[0079] The object type of the perceived object (e.g., pedestrian, other ITS-S, etc.), including absolute and / or relative to other nearby objects. Vulnerable road users (e.g., pedestrians, cyclists) may have the highest relevance.

[0080] The object dynamics of the perceived object (including parameters such as speed and orientation). In particular, the more dynamic the object, the more relevant it becomes. The presumed knowledge of other transmitting participants about the perceived object. In particular, object relevance may be reduced if nearby stations are expected to already have knowledge of the current object status.

[0081] The advantage is that the optimization step takes into account the content of the message items, allowing for a more reliable provision of security-relevant data. According to one embodiment, the communication network comprises at least a first channel and a second channel, each channel supporting a specific maximum data rate that depends in particular on the communication technology of the associated channel. In this embodiment, receiving a maximum data rate for transmitting the object message comprises receiving or estimating a first maximum data rate for the first channel and a second maximum data rate for the second channel. Furthermore, the method of this embodiment comprises: assigning a first object message for transmission over a first channel and / or assigning a second object message for transmission over a second channel; determining a first optimized message generation period and a first optimized data size of a first object message transmitted through the first channel, and determining a second optimized message generation period and a second optimized data size of a second object message transmitted through the second channel, taking into account the maximum data rate of the assigned channel; providing a first object message having a first optimized message generation period and a first optimized data size, and / or providing a second object message having a second optimized message generation period and a second optimized data size; Includes.

[0082] When a communication network comprises at least two channels available for transmission, some of the data, e.g., message items containing omitted objects, can be offloaded to the other channel. In particular, participants can define at least a preferred channel (e.g., a first channel) and an alternative channel (e.g., a second channel). For each channel, an optimized generation period and an optimized data size can be determined as described above, taking into account the associated constraints for each channel, in particular the associated maximum data rate.

[0083] The multi-channel operations (MCO) function may have interfaces to other facility services, such as, for example, collective perception services (CPS), other perception services and applications, etc. Thus, the MCO function may be able to determine information exchange requirements from sourcing applications, maintain an overview of the information exchange requirements of all sourcing applications, and statically and / or dynamically assign exchange functions to applications.

[0084] A perception service, such as a CPS, may define its requirements and parameters, which may be static or dynamic, including preferred and alternate channels, object message priority on the preferred and alternate channels, the number of resources (especially in bits / second) that the perception service wants to consume on the preferred and alternate channels, saturation indication (i.e., what to do if the object message cannot be sent on the preferred or alternate channel; the object message may be discarded or sent on any other channel), the validity time of the object message, and the associated area of ​​the object message.

[0085] The perception service may override parameters on a per-message basis, especially if the parameters should be adapted to the transmission of a particular object message. Parameters that may be overridden include the preferred and alternate channels for this object message or object message segment, the priority of this object message (segment) on the preferred and alternate channels, saturation indication, the validity time of this object message (segment), the associated region of this object message (segment), additional protocol control information such as Basic Transport Protocol (BTP) port, GN type, GN security profile, etc.

[0086] Applications or perception services (such as collective perception services) trigger message generation in the message generation service and provide all messages containing their communication requirements to the communication management entity, which distributes the messages to the appropriate channels.

[0087] The communications management entity provides a resource upper limit for each channel to a perceptual service, e.g., a CPS. The upper limit is the upper limit of the resources (specifically in bits per second) that a perceptual service can use on its preferred and alternate channels (bits are measured at the facility layer).

[0088] Additionally, the communications management entity may send a notification to the perception service if an object message or object message segment could not be sent over a preferred channel.

[0089] Each channel supports a specific message size depending on the communication technology (LTE-V2X, ITS-G5, NR-V2X, 5G V2X, etc.). The communication management entity may hand over information regarding resource limits for each channel, in particular the maximum data rate for each channel, and in particular the last object message sent if the last object message was sent on the corresponding channel (e.g. the information provided may include preferred channel / alternate channel / not sent) to the algorithm for generation period and data size management, in particular the optimization step.

[0090] According to one embodiment, channel information including in particular information regarding channel occupancy patterns of at least one channel of the communication network is received from a communication management entity, and optimization constraints are determined based on the received channel information and taken into account when optimizing the optimization function.

[0091] Some knowledge of the exact state of the channel can influence the optimization. For example, new input from the communication management entity provides information about the channel "gaps" (i.e., idle times = time when there are no messages on the channel). For example, if these are, for example, 500 bytes or less, especially 400 bytes or less, then the object messages or object message segments must be less than that. This provides a further constraint on the optimization. Additionally or alternatively, constraints on the optimization can define, for example, message size thresholds, for example, by obtaining a 95% confidence interval on the message gap size when tracking the gap distribution.

[0092] According to one embodiment, the step of optimizing the optimization function comprises: If the relevance weights of the message items are all the same, the data size of the object message including the first message item and the second message item is The optimized message generation period of the object message is equal to the maximum threshold of the message generation period; The data size divided by the optimized message generation period is still greater than the maximum data rate, is reduced only if at least one of the following conditions is true: This includes the constraint:

[0093] For example, if the list of perceived objects is homogeneous in terms of their relevance values, the message frequency should be reduced before reducing the data size of the relevant object message segments. The data size is reduced only if the message frequency has already reached a lower limit (=maximum threshold of the message generation period), in particular 1 Hz, and the resource limit is still violated. The reason is that in this case it is desirable to transmit as many perceived objects as possible.

[0094] An advantage of this embodiment is that it simplifies the optimization problem as the number of parameters for optimization can be reduced, thus reducing the computational power and / or time to provide results.

[0095] According to one embodiment, if the relevance weight of a first message item is greater than the relevance weight of a second message item (in other words, if the relevance weights of the message items are at least partially heterogeneous), the data size of the object message is reduced if reducing the data size allows for a longer message generation period for the first message item, and the data size of the object message is reduced if reducing the data size allows for a higher generation frequency of message items with a high relevance weight.

[0096] The more heterogeneous the list of detected objects is in terms of relevance, the greater the difference in latency requirements. Therefore, it may be preferable to include more relevant perceived objects (message items) more frequently and transmit them at a higher rate, even at the expense of reducing data size (i.e., the number of message items per object message). In the case of very heterogeneous relevance, for example, a wrong-way driver or a child in an urban scenario (highly relevant) versus a large number of parked vehicles (less relevant), it may be necessary to transmit the highly relevant objects at 10 Hz, while all parked cars are included in only every 10th message (1 Hz per object).

[0097] The advantage is that even if the data size of the unsegmented object message is larger than the maximum transmittable data size, at least relevant perceived objects, e.g., pedestrians on the road, can be transmitted at high frequency to prevent accidents in traffic situations.

[0098] According to one embodiment, the method comprises: evaluating the relevance weights of the received message items; If the relevance weight of the message item is greater than the relevance weight of the message item selected for sending, the maximum received data rate is reduced by the politeness value, and the politeness value is not occupied, allowing other connected stations to use the politeness value for the sharing of information that may be more relevant, among other things; The constraints at the step of optimizing the optimization function are adapted accordingly; The steps include:

[0099] In other words, if a participant assesses that the relevance weight of a message item sent by another participant is likely to be higher than its own, it may transmit less data than permitted (a lower frequency or a lower object message size, corresponding to a reduction in the number of message items for transmission). In this way, the channel is decongested by (considerably) relinquishing allocated resources. This allows other participants to receive a higher share of the channel, resulting in an improvement in the overall performance of perceptual services, especially CPS.

[0100] Another aspect that may be included in the constraint is the type of transmitting participant. If a station is required to transmit all perceived objects to comply with functional safety requirements, it may prioritize message size over message frequency. In this embodiment, the constraint allows participants of this profile to transmit all perceived objects. In this case, the frequency may be reduced accordingly. Thus, according to one embodiment, in the step of optimizing the optimization value, the data size of the object message may be a fixed value.

[0101] An advantage of this embodiment is that it simplifies the optimization problem as the number of parameters for optimization can be reduced, thus reducing the computational power and / or time to provide results.

[0102] Message statistics, i.e., statistics about the last sent and / or received object messages, can be used to provide optimized generation periods and data sizes. Based on feedback about the message statistics and possibly other environmental data, the algorithm can learn how to set message generation periods and data sizes.

[0103] The proportion of messages received from all relevant traffic participants When the ratio increases, the message generation frequency and data size decrease, since it can be assumed that other participants will also receive messages from us.

[0104] Percentage of messages received on preferred / alternate channels The distribution of messages among channels can give insight into the quality of service levels of each channel and influence decision-making (making the algorithm applicable to all channels in principle).

[0105] Traffic class (= channel access priority) The higher the traffic class of a received message, the more likely it is that the message will not be able to pass through the channel, which can be another factor in the overall composite latency.

[0106] According to one embodiment, at least some or all of the steps for providing an optimized message generation period and an optimized data size of the object message are implemented by a trainable function, and a maximum data rate for transmitting the object message, selected information, and message statistics are provided to the trainable function for providing an optimized message generation period and an optimized data size of the object message, and the message statistics are · Received messages, in particular the rate, size, and / or time distribution of all received messages; the channel of the communication network used to transmit the preceding object message; the ratio of messages, particularly all messages, received on a preferred channel of the communications network to messages, particularly all messages, received on an alternative channel of the communications network; the ratio of object messages, in particular all object messages, received on a preferred channel of the communication network to object messages, in particular all object messages, received on an alternative channel of the communication network; and / or Traffic class of the received object message, The modulation and coding scheme used for the received message; Channel load measured by other participants, communicated by exploiting the piggybacking mechanism supported by the GeoNetworking protocol of the ITS-G5 protocol stack, for example. It includes at least one of the following information.

[0107] The received messages may include object messages from other sending participants and / or messages other than object messages from other sending participants. In particular, the optimized generation period and the optimized data size are determined by a Gaussian process or a neural network.

[0108] Message statistics may not be limited to object messages, but may generally include anything related to the channel, such as message length, transmit power, multi-channel systems, etc. Message statistics may include at least some of the information listed above.

[0109] A further aspect of the present invention is a message generation device for performing a method for providing an object message, comprising: A communication module, To receive information about the surrounding area, obtaining selected information about a surrounding area, including the perceived object and / or the perceived area, and segmenting the selected information into at least a first message item and a second message item; To transmit selected information about the surrounding area, in particular message items, to the evaluation unit a communication module; an auxiliary module for receiving or estimating a maximum data rate from a communication management entity; An evaluation unit, determining a first relevance weight for the first message item depending on the content of the first message item and determining a second relevance weight for the second message item depending on the content of the second message item; to define an optimization function depending on at least a first relevance weight and a generation period of the first message item and a second relevance weight and a generation period of the second message item; Optimizing the optimization function to determine an optimized generation period and an optimized data size of the object message, taking into consideration that the value obtained by dividing the optimized data size by the optimized message generation period is equal to or less than the maximum data rate; To provide an object message having an optimized message generation period and an optimized data size to be transmitted over a communication network evaluation unit and A message generating device comprising:

[0110] The advantages of the message generating device follow directly from the advantages of the method for providing an object message. The auxiliary module may be either a communication module, an evaluation unit or a further module.

[0111] According to one embodiment, the communication module may be implemented in, for example, a vehicle communication control unit (CCU), an on-board unit (OBU), or a roadside unit (RSU) that provides a wireless communication link.

[0112] According to one embodiment, the evaluation unit may be implemented, for example, in a vehicle control unit, an electronic control unit (ECU), or a computing unit for automated driving (AD), or a roadside unit (RSU).

[0113] According to one embodiment, the message generation device comprises an object fusion system for evaluating information about the surrounding area and providing, for the evaluation unit, a list of perceived objects / message items.

[0114] According to one embodiment, the communication module is suitable for directly or indirectly transporting object messages via a communication network. In other words, the communication module is suitable for directly transporting transmittable object messages or object message segments from a sending participant to a receiving participant via a communication network, for example by ITS-G5 or C-V2X (via a PC5 interface). Additionally or alternatively, the communication module is suitable for indirectly transporting object messages from a sending participant to a receiving participant via a communication network by providing the object message to other network nodes or other components that use the information, or by forwarding the information to a connected device that provides a link to a wireless or wired transmission technology.

[0115] According to one embodiment, the evaluation unit is suitable for implementing a trainable function and / or the evaluation unit comprises a neural network for performing at least one of the steps for providing an object message with an optimized generation period and an optimized data size to be transmitted via the communication network.

[0116] A further subject of the invention is a participant equipped with a message generation device, in particular a vehicle, an automobile, a VRU, an RSU, a Multi-Connectivity Edge Computing (MEC) or a mobile network (cellular network).

[0117] A further subject of the invention is a computer program product for implementing, preferably via a communications network, the method for providing an object message as described above, the computer program product comprising instructions for causing a message generation device to carry out the steps of the method for providing an object message as described above.

[0118] A further subject of the invention is a computer-readable data carrier storing a computer program product as described above. Further features, advantages, and benefits of the present invention will become apparent from the description of preferred embodiments of the invention and the accompanying drawings. [Brief explanation of the drawings]

[0119] [Figure 1] 1 is a flow diagram of a method for providing object messages including information about a participant's surrounding area in a communication network, according to one embodiment. [Figure 2] FIG. 2 is a schematic diagram of the contents of an object message according to one embodiment. [Figure 3] FIG. 1 is a schematic diagram of optimization results according to one embodiment. [Figure 4] FIG. 1 is a schematic diagram of optimization results according to one embodiment. [Figure 5] 1 is a schematic diagram of multiple messages transmitted over channels of a communication network according to one embodiment; DETAILED DESCRIPTION OF THE INVENTION

[0120] 1 shows a flow diagram of a method 100 for providing an object message 1010 including information 1001 about a surrounding area of ​​a participant in a communication network 102. The object message 1010 is provided 110 for transmission over the communication network 102.

[0121] A participant, and in particular the participant's communication module 400, receives all available information 1001' about the participant's surrounding area from various sources, for example: Participant sensors (systems) 302; Messages 303 from other sending participants, e.g., messages other than object messages and / or object messages, collective perception messages (CPMs), collective awareness messages (CAMs), etc. Area-related information, such as free space areas, Further information 304, such as map data or a geometric description of the surrounding area as perceived by the participant.

[0122] The information may be segmented into message items, for example each perceived object may be segmented into a single message item, or alternatively a message item may contain multiple objects.

[0123] The communication module 400 is responsible for acquiring (103) information 1001 about the surrounding area. The communication module 400 receives all available information 1001′. The communication module 400 may be an interface between the sensor system and other sources / participants providing all available information 1001′ about the surrounding area, and the evaluation unit 401. The communication module 400 may also selectively transmit information, in particular message items, to the evaluation unit 401, if necessary. The communication module is thus able to process the received information 1001′ and select (105′) information 1001 about the surrounding area to transmit via the communication network 102, since not all available information 1001′ may be relevant to other participants.

[0124] If the object fusion system of the sensor (system) or communication module provides (104) and maintains a list 1040 of perceived objects currently perceived by the sending participant, the receiving participant may not need raw sensor data from the sensor (system). A message item may include one or more objects from the list. In FIG. 1 , the object fusion system for providing (104) the list 1040 of perceived objects, and in particular for providing message items, is part of the communication module 400. As a result of the current object message generation event, a message item with a sufficient confidence level and not subjected to redundancy mitigation techniques may be selected (105′) for transmission. The selection (105′) for transmission may include further criteria, such as the reliability of the object information, the object class, the perception time, etc. Additionally, the message item may include the sensor specifications or detected area selected for transmission.

[0125] The selected information corresponds to the acquired information 1001 about the surrounding area, which is then segmented into message items. The communication module 400 sends a message item to the evaluation unit 401 for providing an object message 1010. The evaluation unit 401 is adapted to perform the following steps:

[0126] Determining (105) a relevance weight 1051 of the first message item and determining (105) a relevance weight 1052 of the second message item, in particular based on at least one of the following information:

[0127] The object importance of the perceived object (e.g., high importance for pedestrians on the road, low importance for objects that have already been transmitted recently. In particular, road users with a specific emergency role, such as police vehicles or ambulances, may also belong to high object importance). The object type of the perceived object (e.g., pedestrian, other ITS-S, etc.) Object dynamics of perceived objects (including parameters such as speed and orientation) · The presumed knowledge of other sending participants about the perceived object.

[0128] Defining (106) an optimization function 1060 depending on at least a relevance weight 1051 and a generation period 1061 of a first message item and a relevance weight 1052 and a generation period 1062 of a second message item, the generation period of a message item representing how often said message item should be included in an object message.

[0129] Optimizing (107) the optimization function 1060 to determine an optimized generation period 1070 and an optimized data size 1071 of the object message 1010, taking into account at least one constraint 1071, in particular that the optimized data size divided by the optimized message generation period 1070 is less than or equal to a maximum data rate 1080 provided (108) by the auxiliary module. The auxiliary module 402 is adapted to receive (108) the maximum data rate 1080 for transmitting the object message from the communication management entity or to estimate (108) the maximum data rate for transmitting the object message. The optimization may include further constraints 1072, in particular equalities or inequalities that the optimized generation period and the optimized data size must satisfy, such as channel conditions (channel occupancy), fixed generation periods of individual object message segments (e.g., if the perceived object is a child playing on the street, the object message segment containing the child should be transmitted at the highest possible frequency, etc.).

[0130] Providing (109), in particular generating, an object message 1010 with an optimized message generation period 1070 and an optimized data size 1071 to be transmitted over a communication network.

[0131] The optimization step 107 of the method 100 for providing object messages 1010 may be similar to a nurse scheduling or talent scheduling problem. In the optimization step 107, some kind of schedule for each message item may be determined, taking into account constraints, particularly a maximum data rate 1080 and the data size of the message item. The schedule indicates the time steps at which the corresponding message is added to the object message 1010. Based on this schedule, an optimized message generation period 1070 and an optimized data size 1071 may be determined, taking into account, among other things, that the optimized data size divided by the optimized message generation period may be less than or equal to the maximum data rate.

[0132] Some or all of the steps for providing an optimized message generation period and an optimized data size of the object message 1010 may be implemented by a trainable function.

[0133] 2 shows a schematic diagram of an object message 1010 according to one embodiment, including a header 10010 that does not convey information about the participant's surrounding area but still consumes channel resources, and selected information 1001 segmented into four message items 10011, 10012, 10013, and 10014. The first message item has a relevance weight 1051 of 0.91, the second message item 10012 has a relevance weight 1052 of 0.72, and the fourth message item 10014 has a relevance weight 1054 of 0.39. In other words, this is an example of message items 105 having heterogeneous relevance weights, with message items with higher relevance values ​​being added to the object message 1010 first. The object message 1010 may be provided, for example, by the method of FIG. 1. In this embodiment, all components of the object message 1010 (header 10010, message items 10011, 10012, 10013, 10014) have equal size, but in general these components may have different sizes.

[0134] FIG. 3 shows a schematic diagram of an object message 1010 generated at 0 ms and 500 ms according to one embodiment. In this embodiment, all components of the object message 1010 (header 10010, message items 10011) have equal size. The first column of circles represents the header 10010 included in every generated object message 1010. Message items 1011 are also represented by circles. Hatched circles represent message items 1011 included in the object message 1010 at the associated time step. Unhatched circles represent message items 1011 not included in the associated time step. The optimized message generation period 1070 for the object message 1010 is 500 ms, and the message size (here, in terms of the number of message items) for each time step is one header 10010 and 19 message items 10011. At 0 ms, the message item 1011 in the last column is not included, and at 500 ms, the penultimate message item is not included in the object message 1010. In the next section we describe how this outcome can be determined by solving an optimization problem taking into account the overall composite latency and constraints.

[0135] For simplicity, let us assume that the communication management entity processes N=20 message items 1011, each of which constitutes part of the information 1001 selected for transmission. However, based on channel feedback (e.g., MCO, etc.), a maximum of M=40 message items can be transmitted in the next 1000 ms (=maximum data rate per 1000 ms in units of equal-sized message items). The problem to be solved now is how often object messages 1010 are generated (=message generation period 1070), and how many and which message items 10011 are included in the message. The relevance values ​​of the message items are homogeneous. In other words, each message item has the same relevance value 1050 and the same size. Here, the relevance value 1050 = 0.5 = constant. The overall composite latency is defined as follows:

[0136]

number

[0137] Here, crit i is the time importance, which depends on or is equal to the relevance weight, T i is the time between transmissions of the same object message segment i. In this embodiment, the time importance is equal to the relevance value 1050 of the associated message item 10011. When minimizing the overall composite latency, the optimization solution is T i In other words, the optimized generation period of every message item 1011 is determined. The local minimum of the optimization is T i =0.5s, and for i=19 and i=20, T i = 1 s. Here, the optimized message generation period 1070 of the object message 1010 is i where the optimized message generation period 1070 is 500 ms and the optimized data size 1071 is 19 message items 10011 per object message 1010. Here, the data size of the object message 1010 takes priority over the message frequency, reducing the required message overhead and also achieving the highest throughput τ under the given channel constraints.

[0138]

number

[0139] FIG. 4 shows a schematic diagram of the solution of the optimization step. In this embodiment, the object message 1010 is generated with an optimized message generation period 1070 of 100 ms. In this embodiment, all components of the object message 1010 (header 10010, message items 10011) have equal size. For simplicity, we assume that the communication management entity processes N=20 message items 1011, each of which constitutes part of the information 1001 selected for transmission. However, based on channel feedback (e.g., MCO, etc.), a maximum of M=40 message items can be transmitted in the next 1000 ms (=maximum data rate per 1000 ms in terms of the number of equally sized message items). The problem to be solved here is how often the object message 1010 is generated (=message generation period) and how many and which message items 10011 are included in the message. The relevance weights of the message items 1011 are heterogeneous. In this embodiment, the relevance weights decrease from left to right.

[0140]

number

[0141] Again optimizing for overall composite latency, the new transmission strategy achieves the best results compared to the transmission strategy shown in Figure 3, where each generated object message 1010 comprises a header 10010 and three equally sized message items 10011. The illustrated pattern minimizes composite latency, but throughput is

[0142]

number

[0143] However, this comes at a net data rate loss, since the time importance of the first message item in a row is very high, resulting in a short generation period (T1=0.1 seconds). Less important message items may not be sent (here, message items with i=17, 18, 19, 20) or may only be included occasionally (here, message items with i=2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16). In this embodiment, the optimized generation period 1070 of the object message 1010 is such that all T i where the optimized message generation period 1070 can be determined by determining the minimum value of T i = 0.1 seconds and the optimized data size 1071 is 3 message items 10011 per object message 1010. This solution takes all constraints into account.

[0144] According to the embodiment shown in FIG. 5, different messages, in particular object messages 1010 and other messages, such as CAM 503 and distributed environmental notification messages (DENMs), may be placed on the wireless channel of the communication network 102 by two participants. The x-axis represents time, and the y-axis represents data size in bytes. The time resolution is only for visualization purposes. Also, all messages are placed on the same channel, and the only distinction is the attribution of the messages to their respective senders. Here, the optimization algorithm 107 can define the message size threshold, for example, by obtaining a 95% confidence interval on the gap size when tracking the gap distribution. A more sophisticated method 100 extending the relevance weight-based method 100 shown in FIG. 1 can be obtained by minimizing the following equation:

[0145]

number

[0146] where P is the size Σi B i is the probability of finding a suitable channel gap for the object message, B i is the size of the object message segment B when object message segment i is sent. i and 0 otherwise. P corresponds to the integral of the likelihood that the gap will be larger than the calculated or estimated message size.

Claims

1. A method (100) for providing an object message (1010) in a communication network (102) that includes selected information (1001) about a surrounding area of ​​a participant, the method comprising: - obtaining (103) the selected information (1001) about the surrounding area, including a perceived object and / or a perceived area, wherein the selected information (1001) is segmented into at least a first message item (10011, 10012, 10013, 10014) and a second message item (10011, 10012, 10013, 10014); receiving (108) a maximum data rate (1080) for transmitting said object message (1010) from a communications management entity or estimating (1108) said maximum data rate (1080) for transmitting said object message (1010); determining an optimized data size (1071) and an optimized message generation period (1072) of the object message (1010), determining (105) first relevance weights (1050, 1051, 1052, 1053, 1054) for said first message items (10011, 10012, 10013, 10014) in response to the content of said first message items (10011, 10012, 10013, 10014) and determining second relevance weights (1050, 1051, 1052, 1053, 1054) for said second message items (10011, 10012, 10013, 10014) in response to the content of said second message items (10011, 10012, 10013, 10014); Defining (106) an optimization function (1060), comprising at least: the first relevance weights (1050, 1051, 1052, 1053, 1054) and generation periods of the first message items (10011, 10012, 10013, 10014); and the second relevance weights (1050, 1051, 1052, 1053, 1054) and generation periods of the second message items (10011, 10012, 10013, 10014); and a step dependent on optimizing (107) the optimization function (1060) to determine the optimized message generation period (1070) and the optimized data size (1071) of the object message (1010), taking into consideration that the optimized data size (1071) divided by the optimized message generation period (1070) is less than or equal to the maximum data rate (1080); and determining by performing providing (109) the object message (1010) to be transmitted over the communication network (102) with the optimized message generation period (1070) and the optimized data size (1071); A method (100) comprising:

2. The method (100) of claim 1, comprising transmitting the object message (1010) over the communication network (102).

3. providing (109) the object message (1010), If the optimized data size is larger than the transmittable data size, segmenting the object message (1010) into at least a first object message segment and a second object message segment; providing (109) the first object message segment having the optimized message generation period (1070) and the second object message segment having the optimized message generation period (1070) to be transmitted over the communication network (102); The method (100) of claim 1 or 2, comprising:

4. The relevance weights (1050, 1051, 1052, 1053, 1054) are, for each message item (10011, 10012, 10013, 10014), the object importance of the perceived object and / or the region importance of the perceived region; the object type of the perceived object and / or the region type of the perceived region, the object dynamics of the perceived object; the presumed knowledge of other transmitting participants about the perceived object and / or the perceived area; is determined based on at least one of the following information: The method (100) according to any one of claims 1 to 3.

5. said communication network (102) comprising at least a first channel and a second channel, each channel supporting a particular maximum data rate depending, inter alia, on the communication technology; receiving or estimating a maximum data rate for transmitting the object message includes receiving or estimating a first maximum data rate for the first channel and a second maximum data rate for the second channel; The method (100) assigning a first object message for transmission over the first channel and / or assigning a second object message for transmission over the second channel; determining a first optimized message generation period and a first optimized data size of the first object message transmitted through the first channel, taking into account a maximum data rate of the assigned channel, and determining a second optimized message generation period and a second optimized data size of the second object message transmitted through the second channel; providing (109) the first object message having the first optimized message generation period and the first optimized data size, and / or providing the second object message having the second optimized message generation period and the second optimized data size; The method (100) of any one of claims 1 to 4, comprising:

6. The method (100) of claim 5, wherein the first object message and / or the second object message is transmitted over the assigned channel of the communication network (102).

7. receiving channel information from said communication management entity, said channel information including in particular information regarding channel occupancy patterns of at least one channel of said communication network (102); determining constraints based on the received channel information to be taken into account when optimizing (107) the optimization function (1060); The method (100) of any one of claims 1 to 6, comprising:

8. Optimizing (107) the optimization function (1060) When the relevance weights (1050, 1051, 1052, 1053, 1054) of the message items (10011, 10012, 10013, 10014) are all the same, the data size of the object message (1010) including the first message item (10011, 10012, 10013, 10014) and the second message item (10011, 10012, 10013, 10014) is the optimized message generation period (1070) of the object message (1010) is equal to the maximum threshold value of the message generation period; the data size divided by the optimized message generation period (1070) is still greater than the maximum data rate; is reduced only if at least one of the following conditions holds: This includes the constraint that The method (100) according to any one of claims 1 to 7.

9. Optimizing (107) the optimization function (1060) If the relevance weights (1050, 1051, 1052, 1053, 1054) of the first message items (10011, 10012, 10013, 10014) are greater than the relevance weights (1050, 1051, 1052, 1053, 1054) of the second message items (10011, 10012, 10013, 10014), the data size of the object message (1010) is reduced if the message generation period of the first message items (10011, 10012, 10013, 10014) can be made longer by reducing the data size. This includes the constraint that The method (100) according to any one of claims 1 to 8.

10. evaluating the relevance weight of the received message item; If the relevance weights (1050, 1051, 1052, 1053, 1054) of the received message items (10011, 10012, 10013, 10014) are greater than the relevance weights (1050, 1051, 1052, 1053, 1054) of the message items (10011, 10012, 10013, 10014) to be sent, the received maximum data rate is reduced by a politeness value; the constraints in the step of optimizing (107) the optimization function (1060) are adapted accordingly. and The method (100) according to any one of claims 1 to 9.

11. At least a part or all of the steps for providing the optimized message generation period (1070) and the optimized data size (1071) of the object message (1010) are implemented by a trainable function, and the maximum data rate (1080) for transmitting the object message (1010), the selected information (1001), and message statistics are provided to the trainable function for providing the optimized message generation period and the optimized data size of the object message (1010), and the message statistics are the rate, size, and / or time distribution of received messages, in particular all received messages; the channel of said communication network used to transmit the preceding object message (1010); the ratio of messages, particularly all messages, received on a preferred channel of said communication network to messages, particularly all messages, received on an alternative channel of said communication network (102); the ratio of object messages (1010), in particular all object messages (1010), received on a preferred channel of the communication network to object messages (1010), in particular all object messages (1010), received on an alternative channel of the communication network (102); a traffic class of the received object message; the modulation and coding scheme used in the received message, and / or the channel load measured by other participants, The information includes at least one of The method (100) according to any one of claims 1 to 10.

12. A message generation device for carrying out the method (100) of any one of claims 1 to 11, comprising: A communication module (400), To receive information (1001') about the surrounding area, obtaining (103) the selected information (1001) about the surrounding area, including the perceived object and / or perceived area, and segmenting the selected information (1001) into at least the first message item (10011, 10012, 10013, 10014) and the second message item (10011, 10012, 10013, 10014); to transmit the selected information (1001) about the surrounding area, in particular the message items (10011, 10012, 10013, 10014), to an evaluation unit (401); a communication module (400) an auxiliary module (402) for receiving (108) or estimating (108) said maximum data rate (1080) from said communication management entity; The evaluation unit (401), determining (105) the first relevance weights (1050, 1051, 1052, 1053, 1054) of the first message items (10011, 10012, 10013, 10014) in response to the content of the first message items (10011, 10012, 10013, 10014) and determining (105) the second relevance weights (1050, 1051, 1052, 1053, 1054) of the second message items (10011, 10012, 10013, 10014) in response to the content of the second message items (10011, 10012, 10013, 10014); to define (106) said optimization function (1060) as a function of at least said first relevance weights (1050, 1051, 1052, 1053, 1054) and said generation period of said first message items (10011, 10012, 10013, 10014), and said second relevance weights (1050, 1051, 1052, 1053, 1054) and said generation period of said second message items (10011, 10012, 10013, 10014), optimizing (107) the optimization function (1060) to determine the optimized generation period (1070) and the optimized data size (1071) of the object message (1010), taking into consideration that the value obtained by dividing the optimized data size (1071) by the optimized message generation period (1070) is less than or equal to the maximum data rate (1080); to provide (109) the object message (1010) having the optimized message generation period (1070) and the optimized data size (1071) to be transmitted over the communication network (102); said evaluation unit (401); A message generating device comprising:

13. 13. The message generation device of claim 12, wherein the evaluation unit (401) is adapted to implement a trainable function and / or the evaluation unit comprises a neural network for performing at least one of the steps for providing the object message (1010) having the optimized generation period (1070) and the optimized data size (1071) to be transmitted via the communication network (102).

14. A participant comprising a message generation device according to claim 12 or 13.

15. A computer program product comprising instructions for causing a message generating device according to claim 12 or 13 to perform the steps of the method (100) according to any one of claims 1 to 12.

16. 16. A computer readable data carrier having stored thereon a computer program product according to claim 15.

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