Method and message generation device for providing object messages

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] German Patent Application Publication No. 102019218916 discloses a method for transmitting messages over a communication network, in which message segments to be transmitted are filtered according to their priority values. [Background technology]

[0002] Core and advantages of the present invention Currently, traffic automation and vehicle communication are considered the most promising technologies for mitigating the negative effects of increasing traffic density. Various V2X (Vehicle to Anything) communication links are being developed, including: 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 the perceived environment of stations based on perceptual sensors. In other words, it is the concept of actively exchanging locally perceived objects among various participants equipped with sensors such as video cameras, radar, or LiDAR sensors, particularly vehicles or roadside ITS-S, using object messages, especially Collective Perception Messages (CPM) or Sensor Data Sharing Messages (SDSM), using V2X communication technology. Collective perception aims to share information about the current driving environment among connected stations, such as Intelligent Transport System-Station (ITS-S) in an ITS subsystem. This includes defining the syntax and semantics of object messages, as well as detailed specifications for data and message processing to collaboratively enhance environmental awareness.

[0004] The European Telecommunications Standards Institute (ETSI) is currently proposing a collective perception service for standardization in the EU. Collective perception is based on instantaneous object messages about the surrounding environment of road users, transmitted to or received from other connected stations (e.g., other vehicles, pedestrians, or infrastructure elements) via V2X communication, 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) (Intelligent Transport System (ITS); Vehicular Communications; Basic Set of Applications; Analysis of the Collective Perception Service (CPS)). Similar V2X services are being standardized / are being standardized in other parts of the world.

[0005] Infrastructure systems, such as roadside sensors and data servers, can support a vehicle in terms of driving tasks by providing additional information that the vehicle's onboard sensors cannot generate themselves, or can only generate to a limited extent. This additional information generated by the infrastructure may 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 of information from the transmitting road user. An object message may include information about the transmitting ITS-S itself, its sensor capabilities, and the objects it has detected / perceived. For this purpose, an object message may provide a generic data element for describing objects detected within the reference frame of the transmitting ITS-S.

[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. This increases redundancy in sensor fusion. This allows for improved reliability of applications such as (partial) autonomous driving by using the received information of object messages, including perceived objects. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] German Patent Application Publication No. 102019218916 Specification [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] The inventions described below in this specification relate particularly to object messages in infrastructure systems, but are also applicable to other stations and other object messages, especially V2X messages.

[0009] The present invention includes a method for managing the generation cycle and content of object messages. 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 advantages of the concept of perception services, such as CPS, which provide object messages, include reducing participant ambient uncertainty about their respective current environment by enabling the perception of more objects and improving the quality of perceived / recognized object data. Perception services define object messages that enable the sharing of information about objects detected by the originating ITS-S. Object messages are sent periodically at an adaptive message generation rate to reduce the resulting channel load, with an emphasis on reporting dynamic changes in the road environment.

[0011] The advantages of the present invention, including the features of the independent claims, are that it enables the use of communication network resources and provides reliable information about the surrounding areas of participants, such as road users, vehicle ITS-S, and roadside ITS-S. [Means for solving the problem]

[0012] This is achieved by the method described in claim 1 for providing an object message in a communication network that includes selected information about the area surrounding a participant. In particular, the participant is a sending participant that provides an object message for other participants. obtaining selected information relating to a surrounding area, the selected information comprising a perceived object and / or a 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 an object message from a communication management entity, or estimating a maximum data rate for transmitting an object message; determining an optimized data size and an optimized message generation period for the object message, determining a first relevance weight for the first message item in accordance with the content of the first message item, and determining a second relevance weight for the second message item in accordance with the content of the second message item; defining an optimization function, wherein at least, the first relevance weight and the generation period of the first message item, and the second relevance weight and the generation period of the second message item are dependent thereon; optimizing the optimization function in consideration of that a 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 determine the optimized message generation period and the optimized data size of the object message; the step of determining by executing; providing the object message having the optimized message generation period and the optimized data size, to be transmitted via a communication network; comprising:

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

[0014] "Selected information relating to the surrounding area" can be understood as meaning that this information includes all available information relating to the participant's surrounding area, or at least information relating to the surrounding area selected for transmission. With the current object message generation event, an object from the list of objects perceived by the participant that has a sufficient confidence level and has not been subjected to redundancy reduction techniques can be selected for transmission. The selection for transmission may also include further criteria such as, for example, the confidence level of object information, object class, and perception time.

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

[0016] Furthermore, with the current object message generation event, perceived regions such as free space regions, in particular 2D or 2D+ regions, or regions with a free space confidence level different from a default value, may be selected for transmission.

[0017] Each object message contains at least one message item, specifically one message item, or specifically two or more message items. Message items have different expectations for the vehicle network, which are represented by their relevance weights, or in other words, by the value of their information. Each object message includes a protocol header that does not transmit information about the traffic environment but still consumes channel resources.

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

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

[0020] A perception service can be an application support function provided by the facility layer that constructs, manages, and processes object messages delivered from the infrastructure to end users or 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. To construct an object message, the perception service merges the header with the payload. The object message / object message segment is then delivered to other participants via the communication network.

[0021] Payloads may be generated by the sending participant or other ITS applications and / or perceptual services within the connected ITS-S. Within the sending participant, the transmission of object messages may be triggered by the application, the perceptual service itself, or the transport mechanism. For this purpose, the application may connect to other entities in the facility layer or external entities to collect relevant information for payload generation, in other words, to obtain selected information about the participant's surrounding area. Once an object message or object message segment is generated, for example by segmentation, determining the generation cycle and data size of object messages (segments), and providing object messages (segments), the perceptual 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 level, the received object message is processed by the perception service, and the information in the object message is delivered to the 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 a vehicle within a target destination area. Within this area, the information contained in the object message is considered relevant to traffic participants.

[0023] A communication network, particularly a vehicle communication network, includes a network for traffic coordination, such as a V2X communication mechanism. Transmittable object messages or transmittable object message segments can be transmitted between users of the communication network via communication links, particularly wireless communication links, such as WLAN, Bluetooth, or cellular communication links. Participants connect with other participants via the communication network. The communication network may have at least one channel. The communication network may also have multiple channels, particularly two or more channels.

[0024] Participants may be equipped with sensors (e.g., radar, LiDAR, cameras, etc.), especially fixed sensors. Participants can acquire information about their surroundings, such as object information, from these sensors. This information can be transmitted to other ITS-S (e.g., via a collective perception service).

[0025] Participants can receive object messages or object message segments, particularly CPMs and / or collaborative recognition messages (CAMs), and can also forward these object messages or object message segments to other ITS-S. Additionally or alternatively, participants can aggregate information from received messages / message segments into a new object message.

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

[0027] Participants can receive and transmit 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 a participant can also receive an object message or object message segment from other (sending) participants when acquiring information and use the surrounding information from other participants to generate its surrounding model.

[0028] For example, the step of obtaining selected information may further include the following steps: • A step of receiving all available information about the surrounding area. • A step of selecting information for transmission from all available information about the surrounding area. Alternatively, all available information may be selected for transmission. In this case, all available information corresponds to the selected information regarding the surrounding area.

[0029] For example, the step of acquiring information about the surrounding area may include the step of providing a list of perceived objects. This step can be performed, for example, by an object fusion system. Sensors attached to the participant provide raw sensor data as a result of their measurements, and this data can 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., reflection, time of flight, point cloud, camera image, etc.). In the context of perception of the surrounding area, this data is usually evaluated by a sensor-specific analysis process to detect and compute mathematical representations of the perceived objects. The object fusion system can provide and maintain a list of perceived objects currently perceived by the participant. The object fusion mechanism can do the following:

[0030] • Predict each object during times when measurement results are unavailable from the sensor. - Associate objects from other potential sensors attached to the participant, or objects received from other participants, with objects in the tracking list. • Merge predicted and updated measurement results for an object.

[0031] Therefore, at each point in time, the object fusion system can provide an updated list of perceived objects. Further information from other participants (e.g., CPM and CAM) may be further integrated with locally perceived information. In other words, 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 ITS, or object messages.

[0032] The object fusion system may add new objects to the list of recognized objects and update objects that are already being tracked by the object fusion system. Furthermore, if the object fusion system cannot associate new measurements with an already tracked object, it may remove an object from the list of perceived objects.

[0033] Object fusion can be performed using individual sensors or through high-level data fusion processes. The object fusion system can also classify perceived objects.

[0034] If an object is not detected or selected for transmission, the list of perceived objects may become an empty list, and participants may continue to periodically generate object messages to report that they can detect and share objects.

[0035] Perceived objects may include other participants, vehicles, ITS, pedestrians, and infrastructure elements. Perceived objects may be relevant to traffic safety and may be either static (i.e., not moving but on the road lane) or dynamic (i.e., moving or capable of moving).

[0036] For example, a communications management entity, such as a communications management service or multi-channel operation function, provides the maximum data rate for transmitting object messages. In other words, the communications management entity provides information about the maximum number of bits that can be transmitted per unit time (bit limit). As an addition or alternative, message statistics can also be used to estimate the maximum data size. For example, the maximum data size could be chosen as the maximum size of all received messages within a given period. The maximum data size may further correspond to a specific threshold, e.g., a 2-sigma interval, considering received or expected transmitted messages.

[0037] The relevant "maximum data size" may be determined, for example, by 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 carrying the object messages. There is another constraint that the maximum data size must satisfy: the value obtained by dividing the maximum data size 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 containing information about the participant, including at least one of the following: at least one sensor of the originating participant, generation time, station type, reference location (e.g., 3D coordinates).

[0039] Furthermore, object messages may include additional containers, such as the following: • Station data container This includes a source vehicle container or a source roadside unit (RSU) container, and in particular includes dynamic information of the source participant (vehicle), such as bearing, azimuth angle, speed, acceleration, and yaw rate.

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

[0041] • Perceptual object container This includes a list of perceived (recognized) objects, in particular perceived objects, providing timing, position, and orientation information for the detected objects, a 3D representation of the objects to the transmitting participant, along with a corresponding correlation matrix, and / or A free space add-on container or a perceived area specification container may include instructions for free space confidence and instructions for whether to apply shadowing within the corresponding perceived area. Furthermore, a free space add-on (perceived area specification) container may be added if the free space derived by the receiver from the transmitting participant's sensor specifications is inaccurate.

[0042] This method includes object message generation frequency and content management. Different generation rules for object message generation are applied to each container type. Exemplary generation rules may include at least some of the following:

[0043] • The originating vehicle container is included in all object messages. • The sensor information container is contained at a frequency of 1 Hz. The frequency set for the perceptual object container and the perceptual region specification container is between 1 and 20 Hz, depending on the load on the communication channel.

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

[0045] A detected (perceived) region, in other words, a message item containing a perceived region, may be added to an object message according to inclusion criteria such as the region's dynamic state (velocity and acceleration, etc.), the region's free space confidence level, the region's size, the region's location relative to surrounding traffic participants, the region's redundancy, and / or the V2X network's current knowledge of 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 final number of these objects selected for transmission. Objects that the potential receiver is better familiar with may be omitted as they are considered redundant.

[0047] As long as the resulting encoded message data size of the generated object message is less than or equal to the maximum data size (in particular, messages should be smaller than the maximum data size, as larger messages are more likely to be lost), message items can be placed in the object message. The optimization step provides generation rules for generating object messages using message items. Specifically for each message item, an optimized generation cycle is determined during optimization. The optimized message generation cycle and optimized data size are determined by this set of optimized generation cycles and data sizes for message items, similar to, for example, talent scheduling problems or nursing scheduling problems.

[0048] In other words, the optimization step can determine how many and / or what message items an object message (=the content of the object message) can contain in the current object message generation event, as well as how often object messages are generated (the object message generation cycle).

[0049] Each object message is sent at the next transmission opportunity. For example, if an object message becomes larger because many perceived objects / regions / message items are selected for transmission, the message may need to be divided into object message segments before transmission. These object message segments are then transmitted sequentially.

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

[0051] • Compare the optimized data size of the object message with a given maximum data size. If the calculated or estimated data size of an object message is larger than a given maximum data size, • Segment 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 (i.e., the data size of the object message segment is smaller than a given maximum data size) is met. In other words, these steps can be repeated until the generated object message segment is ready to send.

[0053] A given maximum data size may be equal to the maximum data size provided by the communications management entity, and / or may be smaller than the maximum data size if further constraints apply, such as channel state (channel occupancy) or a fixed generation period for individual object message segments (for example, if the perceived object is a child playing in the street, the object message segment containing the child should be transmitted at the highest possible frequency. Thus, the frequency of the message item can be fixed during optimization and can therefore be treated as a further limit / constraint in the optimization step. The optimized generation period for the relevant object message corresponds to the inverse of the generation frequency).

[0054] For example, an object message (segment) is a collective perceptual message (CPM). The "generation period" is the inverse of the generation frequency. In other words, the generation period of an object message represents the time between transmissions of object messages. In other words, when one object message is transmitted, there is a time gap equal to the generation period before another object message is transmitted.

[0055] Generation cycle and data size are interdependent parameters. If the maximum data rate provided by the communication management entity does not allow all object message payloads (=message items) to be sent at the maximum frequency (=minimum generation cycle), then the optimization step must make trade-offs. From a payload efficiency standpoint, a reduction in the object message rate may be preferable (less message overhead is sent). From a latency standpoint, a reduction in the object message size may be preferable. For example, if 20 perceived objects are selected for transmission, and each perceived object has a data size of 50 bytes, an object message overhead of 100 bytes, and a channel limit of 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 transmitted at an object message rate of 10 Hz.

[0059]

number

[0060] The first option is 36 perceived objects

[0061]

number

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

[0063]

number

[0064] Only data is sent, but this allows for a higher update rate. A compromise should be found among these options depending on various criteria. The constraints on the optimization function include these criteria, which can be used to systematically determine the optimized generation frequency and optimized data size for each relevant object message segment. The optimized generation period and optimized data size are the result of optimization steps in the optimization function, taking into account constraints arising from various data sources.

[0065] In general, the relevance weight of a message item is determined according to the content of the message item. The relevance weight for a message item may be determined at least according to the relevance value of at least one perceived object or region included in the message item. Furthermore, the relevance weight may be determined according to the confidence level of the perceived object or region.

[0066] The optimization function can 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]

Equation

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

[0069]

Equation

[0070] Here, P is the probability of finding an appropriate channel gap for an object message of size Σ i B i , and B i is the size B of the object message segment if the object message segment i is transmitted i , otherwise it is 0. P corresponds to the integral of the likelihood that the gap is larger than the calculated or estimated message size.

[0071] In the simplest case, optimizing an optimization function, particularly the mathematical optimization of an optimization function, involves maximizing or minimizing the optimization function by systematically selecting input values ​​from a set of allowed values ​​(where the set of allowed values ​​is limited at least by the maximum data rate and the payload / maximum data size of the object message, which may include further constraints, in particular equations or inequalities that the optimized generation period and optimized data size must satisfy), and then computing the value of the optimization function.

[0072] For example, constraints may be determined by at least one of the following: • Maximum data rate, • The relevance of perceived objects. For example, there may be message items that should be transmitted at a fixed (high) generation frequency.

[0073] Channel feedback, Message statistics, • Type of transmitting participant (e.g., roadside unit or car), • Relevance of object message segments sent by other participants, • Maximum time required for optimization.

[0074] If optimization provides multiple solutions (multiple extreme values), 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 optimization. In that case, the optimized generation period and optimized data size may be the best solution, resulting in minimization of the optimization function compared to other solutions provided within the time limit.

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

[0076] According to one embodiment, the step of providing an object message is: - If the optimized data size is larger than a given maximum data size, the object message is segmented into at least a first object message segment and a second object message segment, - A step of 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 sent at the next transmission opportunity. In particular, object message segments may be transmitted in parallel using different channels of the communication network.

[0078] According to one embodiment, relevance weights are determined for each message item based on at least one of the following pieces of information. • The importance of perceived objects (for example, pedestrians on the street are of high importance, while objects that have already been transmitted are of low importance. In particular, road users with specific emergency roles, such as police vehicles and ambulances, may also fall into the category of high object importance). The higher the object importance (for example, the risk of collision with another object), the higher the relevance.

[0079] • Object type of 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] • Object dynamics of perceived objects (including parameters such as velocity and orientation). The more dynamic an object is, the more relevant these dynamics become. • The presumed knowledge of other transmitting participants regarding the perceived object. In particular, object relevance may decrease if nearby stations are expected to already have knowledge of the current object status.

[0081] The advantage is that the content of message items is taken into consideration during the optimization step, enabling the provision of highly reliable security-related 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, particularly dependent on the communication technology of the relevant channel. In this embodiment, the step of receiving a maximum data rate for transmitting an object message includes the steps of receiving or estimating a first maximum data rate for the first channel and receiving or estimating a second maximum data rate for the second channel. Furthermore, the method of this embodiment is The steps include: assigning a first object message to be transmitted over a first channel, and / or assigning a second object message to be transmitted over a second channel; The steps include: determining a first optimized message generation period and a first optimized data size for a first object message transmitted through a first channel, taking into account the maximum data rate of the allocated channel; and determining a second optimized message generation period and a second optimized data size for a second object message transmitted through a second channel. The steps include: providing a first object message having a first optimized message generation cycle and a first optimized data size, and / or providing a second object message having a second optimized message generation cycle and a second optimized data size. Includes.

[0082] If a communication network has at least two channels and both channels are available for transmission, then some data, such as 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 alternate channel (e.g., a second channel). For each channel, the optimized generation cycle and optimized data size can be determined as described above, taking into account the relevant constraints for each channel, especially the relevant maximum data rate.

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

[0084] For example, a perceptual service such as CPS can 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 the perceptual service wants to consume on the preferred and alternate channels (particularly in bits / second), saturation instructions (i.e., what to do if an object message cannot be sent to the preferred or alternate channel; the object message may be discarded or sent on any other channel), the validity period of the object message, and the relevant region of the object message.

[0085] The perceptual service may override parameters on a per-message basis, particularly when parameters should be adapted for the transmission of a specific object message. Parameters that may be overridden include 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 indicators, the validity period of this object message (segment), the relevant region of this object message (segment), and additional protocol control information, such as the Basic Transport Protocol (BTP) port, GN type, and GN security profile.

[0086] An application or perception service (e.g., a collective perception service) triggers message generation in a message generation service, which then provides all messages containing their communication requirements to a communication management entity to deliver the messages to the appropriate channels.

[0087] The communications management entity provides resource limits for each channel to perceived services, such as CPS. The limits are the maximum resources (specifically in bits per second) that the perceived service can use on its preferred and alternate channels (bits are measured at the facility layer).

[0088] Furthermore, the communications management entity may send a notification to the perception service if it was unable to send an object message or object message segment through the preferred channel.

[0089] Each channel supports a specific message size depending on the communication technology (also known as LTE-V2X, ITS-G5, NR-V2X, or 5G V2X). The communication management entity can hand over resource limits for each channel, in particular the maximum data rate for each channel, and especially information about the last object message sent on the corresponding channel if one has been sent (for example, the information provided may include preferred channel / alternate channel / unsent), to algorithms for generation cycle and data size management, particularly in the optimization step.

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

[0091] Some knowledge about the precise state of a channel can influence optimization. For example, new input from a communications management entity provides information about the channel's "gaps" (i.e., idle time = time when there are no messages on the channel). For example, if these are less than or equal to 500 bytes, especially 400 bytes, then object messages or object message segments must be less than or equal to that. This imposes further constraints on optimization. As an addition or alternative, constraints on optimization can be defined, for example, by obtaining a 95% confidence interval for message gap size when tracking gap distribution, for example, by defining a message size threshold.

[0092] According to one embodiment, the step of optimizing the optimization function is: If all message items have the same relevance weight, the data size of the object message containing the first and second message items is: • The optimized message generation cycle for object messages is equal to the maximum threshold for the message generation cycle. • The value obtained by dividing the data size by the optimized message generation cycle is still greater than the maximum data rate. It is reduced only if at least one of the following conditions is met. This includes the following 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 associated object message segments. The data size is only reduced if the message frequency has already reached its lower limit (the maximum threshold for message generation cycles), particularly 1 Hz, and the resource limit is still being violated. This is because, in this case, it is desirable to send as many perceived objects as possible.

[0094] An advantage of this embodiment is that it simplifies the optimization problem because it can reduce the number of parameters for optimization. Therefore, it can reduce the computational power and / or time required to provide the results.

[0095] According to one embodiment, if the relevance weight of the first message item is greater than the relevance weight of the 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 the message generation period of the first message item can be made longer by reducing the data size, and the data size of the object message is reduced if the generation frequency of message items with high relevance weights can be made higher by reducing the data size.

[0096] The more heterogeneous the list of detected objects becomes 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 driver driving the wrong way or a child in an urban scenario (highly relevant) versus a large number of parked vehicles (not so relevant), the relevant objects may need to be transmitted at 10 Hz, while all the parked cars are included only every 10 messages (1 Hz per object).

[0097] The advantage is that even if the data size of an unsegmented object message is larger than the maximum transmittable data size, it is still possible to transmit at a high frequency at least relevant perceived objects, such as pedestrians on the street, to prevent accidents in traffic situations.

[0098] According to one embodiment, this method is • A step to evaluate the relevance weights of received message items, • If the relevance weight of a 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, especially for sharing potentially more relevant information. • The constraints in the step of optimizing the optimization function are adapted accordingly. Includes steps.

[0099] In other words, if a participant assesses that a message item sent by another participant may have a higher relevance weight than their own, they may send less data than allowed (corresponding to a reduction in the number of message items sent, either by lower frequency or a smaller object message size). In this way, the channel is freed from congestion by (considerably) relinquishing its allocated resources. This allows other participants to receive a higher share of the channel, resulting in an overall improvement in the performance of perceptual services, particularly CPS.

[0100] Another aspect that may be included in the constraints is the type of transmitting participant. If a station is required to transmit all perceived objects in order to comply with functional safety requirements, message size may be prioritized over message frequency. In this embodiment, the constraint is to allow participants in 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 because it can reduce the number of parameters for optimization. Therefore, it can reduce the computational power and / or time required to provide the results.

[0102] Message statistics, in other words, statistics about the last sent and / or received object messages, can be used to provide optimized generation cycles and data sizes. Based on feedback from message statistics and potentially other environmental data, the algorithm can learn how to set the message generation cycle and data size.

[0103] • The ratio of messages received from all relevant traffic participants. As the ratio increases, the message generation frequency and data size are reduced. This is because it can be assumed that other participants will also receive messages from us.

[0104] • Ratio of messages received on the preferred / alternative channel The distribution of messages across channels can provide insights into the quality of service levels for each channel and influence decision-making (in principle, make the algorithm applicable to all channels).

[0105] • Traffic class (=channel access priority) The higher the traffic class of an incoming message, the more likely it is that the message will not be able to pass through the channel. This 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 cycle and optimized data size for object messages are implemented by a trainable function, the maximum data rate for sending object messages, selected information, and message statistics are provided to the trainable function for providing an optimized message generation cycle and optimized data size for object messages, and the message statistics are, • Received messages, in particular the ratio, size, and / or time distribution of all received messages. • The channel of the communication network used to send the preceding object message. • The ratio of messages received on the preferred channel of the communication network, in particular all messages, to messages received on the alternative channel of the communication network, in particular all messages. • The ratio of object messages received on the preferred channel of the communication network, in particular all object messages, to object messages received on the alternative channel of the communication network, in particular all object messages, and / or • Traffic class of received object messages, • The modulation and coding scheme used in the received message. • Channel load measured by other participants, communicated by utilizing the piggybacking mechanism supported by the GeoNetworking protocol of the ITS-G5 protocol stack, for example. It includes at least one piece of information from the following categories.

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

[0108] Message statistics are not limited to physical messages. Generally, they include everything related to the channel, such as message length, transmit power, and multi-channel systems. Message statistics may include at least some of the information mentioned above.

[0109] A further aspect of the present invention is a message generation device for performing a method for providing an object message, • A communication module, • To receive information about the surrounding area, To acquire selected information about the surrounding area, including perceived objects and / or perceived regions, and to segment the selected information into at least a first message item and a second message item, • To send selected information about the surrounding area, especially message items, to the evaluation unit. The communication module and • An auxiliary module for receiving or estimating the maximum data rate from the communications management entity, • Evaluation unit, Based on the content of the first message item, the first relevance weight of the first message item is determined, and based on the content of the second message item, the second relevance weight of the second message item is determined. • In order to define an optimization function based on at least the first relevance weight and generation period of the first message item, and the second relevance weight and generation period of the second message item, • To determine the optimized generation period and optimized data size of object messages, the optimization function is optimized considering that the value obtained by dividing the optimized data size by the optimized message generation period is less than or equal to the maximum data rate. To provide object messages with optimized message generation cycles and optimized data sizes to be transmitted over a communication network. Evaluation unit and It is a message generation device equipped with [a specific feature / ability].

[0110] The advantages of message generation devices are directly derived from the advantages of the method for delivering object messages. The auxiliary module may be a communication module, an evaluation unit, or any other module.

[0111] According to one embodiment, the communication module can be implemented, for example, in 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 can be implemented in, for example, a vehicle control unit, an electronic control unit (ECU), a calculation unit for autonomous driving (AD), or a roadside unit (RSU).

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

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

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

[0116] A further subject of the present invention is participants equipped with message generation devices, particularly vehicles, automobiles, VRUs, RSUs, multi-connectivity edge computing (MEC), or mobile networks (cellular networks).

[0117] A further subject of the present invention is a computer program product that implements the method for providing the object messages described above, preferably via a communication network. The computer program product includes instructions that cause a message generating device to perform the steps of the method for providing the object messages described above.

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

[0119] [Figure 1] This is a flowchart illustrating a method for providing an object message containing information about the area surrounding a participant in a communication network, according to one embodiment. [Figure 2] This is a schematic diagram of the content of an object message according to one embodiment. [Figure 3] This is a schematic diagram showing the results of optimization according to one embodiment. [Figure 4] This is a schematic diagram showing the results of optimization according to one embodiment. [Figure 5] This is a schematic diagram of multiple messages transmitted over a channel in a communication network according to one embodiment. [Modes for carrying out the invention]

[0120] Figure 1 shows a flowchart of a method 100 for providing an object message 1010 containing information 1001 about the area surrounding a participant in a communication network 102. The object message 1010 is provided (110) to be transmitted over the communication network 102.

[0121] The participant, in particular the participant's communication module 400, receives all available information 1001' about the participant's surrounding area from various sources, such as the following: • Participant's sensor (system) 302, • Messages from other transmitting participants, such as messages other than object messages, and / or object messages, collective perception messages (CPM), collective recognition messages (CAM), etc. • Area-related information, such as free space areas, • Further information, such as map data and geometric descriptions of the surrounding area as perceived by participants.

[0122] Information can be segmented into message items. For example, each perceived object may be segmented into a single message item. 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 can be an interface between the sensor system, other sources / participants providing all available information 1001' about the surrounding area, and the evaluation unit 401. The communication module 400 can also selectively transmit information, in particular message items, to the evaluation unit 401 if necessary. Thus, the communication module can process the received information 1001', select (105') information 1001 about the surrounding area, and transmit it via the communication network 102. This is because not all available information 1001' may be relevant to other participants.

[0124] If the object fusion system of a sensor (system) or communication module provides (104) and maintains a list of perceived objects currently perceived by the transmitting participant, the receiving participant may not need the raw sensor data from the sensor (system). A message item may contain one or more objects from the list. In Figure 1, the object fusion system for providing the list of perceived objects (104), and specifically for providing message items, is part of the communication module 400. As a result of the current object message generation event, message items with a sufficient level of confidence and without redundancy mitigation techniques may be selected (105') for transmission. Selection for transmission (105') may include further criteria such as confidence level of object information, object class, and perception time. Furthermore, the message item may include the sensor specification or detected region selected for transmission.

[0125] The selected information corresponds to the acquired information about the surrounding area 1001, and this information is then segmented into message items. The communication module 400 sends a message item to the evaluation unit 401 to provide an object message 1010. The evaluation unit 401 is suitable for performing the following steps.

[0126] The steps include determining the relevance weight 1051 of the first message item and the relevance weight 1052 of the second message item, based on at least one of the following pieces of information.

[0127] • Object importance of perceived objects (for example, pedestrians on the street are considered high importance, while objects that have already been transmitted are considered low importance. In particular, road users with specific emergency roles, such as police vehicles and ambulances, may also be considered high object importance.) • Object type of the perceived object (e.g., pedestrian, other ITS-S, etc.) • Object dynamics of perceived objects (including parameters such as velocity and orientation) • The estimated knowledge of other transmitting participants regarding the perceived object.

[0128] - A step of defining an optimization function 1060 (106) in accordance with at least the relevance weight 1051 and generation period 1061 of a first message item and the relevance weight 1052 and generation period 1062 of a second message item. The generation period of a message item represents how often the message item should be included in an object message.

[0129] The step of optimizing the optimization function 1060 (107) and determining the optimized generation period 1070 and optimized data size 1071 of the object message 1010, taking into account at least one constraint (constraint) 1071, in particular, that the value obtained by dividing the optimized data size by the optimized message generation period 1070 is less than or equal to the maximum data rate 1080 provided (108) by the auxiliary module. The auxiliary module 402 is suitable for receiving (108) the maximum data rate 1080 for sending object messages from the communications management entity, or for estimating (108) the maximum data rate for sending object messages. The optimization may include further constraints 1072, in particular, equations or inequalities that the optimized generation period and optimized data size must satisfy, e.g., channel state (channel occupancy), fixed generation periods for individual object message segments (e.g., if the perceived object is a child playing in the street, the object message segment containing that child should be transmitted at the highest possible frequency).

[0130] - Providing (109) an object message 1010 having an optimized message generation period 1070 and an optimized data size 1071 to be transmitted over a communication network, specifically the step of generating it.

[0131] The optimization step 107 of method 100 for providing object messages 1010 may be analogous to nursing scheduling or talent scheduling problems. In optimization step 107, some kind of schedule may be determined for each message item, taking into account constraints, in particular the maximum data rate 1080 and the data size of the message item. The schedule indicates the time step at which the corresponding message is added to the object message 1010. Based on this schedule, the optimized message generation period 1070 and the optimized data size 1071 can be determined, in particular, taking into account that the value obtained by dividing the optimized data size by the optimized message generation period may be less than or equal to the maximum data rate.

[0132] Some or all of the steps to provide an optimized message generation cycle and an optimized data size for object messages 1010 can be implemented by a trainable function.

[0133] Figure 2 shows a schematic diagram of an object message 1010 according to one embodiment, which includes a header 10010 that does not transmit 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 relevance weight 1051 of the first message item is 0.91, the relevance weight 1052 of the second message item 10012 is 0.72, and the relevance weight 10014 of the fourth message item 10014 is 0.39. In other words, this is an example of message items 105 having heterogeneous relevance weights, with message items having higher relevance values ​​being added to the object message 1010 first. The object message 1010 may be provided, for example, by the method shown in Figure 1. In this embodiment, all components of the object message 1010 (header 10010, message items 10011, 10012, 10013, 10014) have the same size. However, generally, these components may have different sizes.

[0134] Figure 3 shows a schematic diagram of an object message 1010 generated at 0ms and 500ms according to one embodiment. In this embodiment, all components of the object message 1010 (header 10010, message item 10011) have equal size. The circles in the first column represent 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 relevant time step. Unhatched circles are not included at the relevant time step. The optimized message generation cycle 1070 for object message 1010 is 500ms, and the message size (in units of the number of message items) for each time step is one header 10010 and 19 message items 10011. At 0ms, the last message item 1011 is not included, and at 500ms, the second to last message item is not included in the object message 1010. In the next section, we will describe how this result can be determined by solving the optimization problem while considering the overall composite latency and constraints.

[0135] For simplicity, let's assume that a communications management entity processes N=20 message items 1011, and each message item constitutes part of the information 1001 selected for transmission. However, based on channel feedback (e.g., MCO), it can transmit up to M=40 message items in the next 1000ms (= maximum data rate per 1000ms, in units of the number of message items of equal size). The question to be answered here is how often (= message generation cycle 1070) object messages 1010 are generated, and how many and which message items 10011 are included in a 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 This is the time importance, which depends particularly on the relevance weight, 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 related message item 10011. When minimizing the overall composite latency, the optimization solution is T i This is the set of values. In other words, the optimized generation period for every message item 1011 is determined. The minimum value of the optimization is T for i=1,2,...,18. i =0.5s, and for i=19 and i=20, T i = 1s. Here, the optimized message generation period 1070 of object message 1010 is all T i This can be determined by determining the minimum value of , where the optimized message generation period 1070 is 500ms 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 precedence over the message frequency, reducing the required message overhead and thus achieving the best throughput τ under given channel constraints.

[0138]

number

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

[0140]

number

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

[0142]

number

[0143] It drops down to . However, the time importance of the first message item in a line is very high, resulting in a short generation cycle (T1 = 0.1 seconds), so this accepts a loss of net data rate. 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 cycle 1070 of object message 1010 is all T i This can be determined by determining the minimum value of, where the optimized message generation period 1070 is T i This is equivalent to 0.1 seconds, and the optimized data size of 1071 is 3 message items per 1010 object messages. This solution takes all constraints into account.

[0144] According to the embodiment shown in Figure 5, different messages, particularly object messages 1010 and other messages such as CAM503 and distributed environment notification messages (DENM), may be placed into a 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 for visualization purposes only. Also, all messages are placed into the same channel, and the only distinction is the attribution of the messages to their respective sources. Here, the optimization algorithm 107 can define a message size threshold, for example, by obtaining a 95% confidence interval for gap size when tracking gap distributions. A more sophisticated method 100, an extension of the relevance weight-based method 100 shown in Figure 1, can be obtained by minimizing the following equation.

[0145]

number

[0146] Here, P is of size Σi B i The probability of finding a suitable channel gap for the object message, B i When object message segment i is sent, the size of the object message segment is B. i It is true if it is true, and 0 otherwise. P corresponds to the integral of the likelihood that the gap will be greater than the calculated or estimated message size.

Claims

1. A method (100) performed by a computer in a communication network (102) to provide an object message (1010) containing selected information (1001) about the area surrounding a participant, A step of acquiring (103) the selected information (1001) relating to the surrounding area, including a perceived object and / or perceived region, 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), The steps include receiving (108) the maximum data rate (1080) for transmitting the object message (1010) from the communication management entity, or estimating (1108) the maximum data rate (1080) for transmitting the object message (1010), A step of determining the optimized data size (1071) and optimized message generation period (1072) of the object message (1010), The steps include: determining (1050, 1051, 1052, 1053, 1054) first relevance weights (1050, 1051, 1052, 1053, 1054) for the first message items (10011, 10012, 10013, 10014) according to the content of the first message items (10011, 10012, 10013, 10014) according to the content of the second message items (10011, 10012, 10013, 10014), and determining (1050, 1051, 1052, 1053, 1054) for the second message items (10011, 10012, 10013, 10014), A step of defining an optimization function (1060) (106), wherein at least, The first relationship weights (1050, 1051, 1052, 1053, 1054) and generation period of the first message items (10011, 10012, 10013, 10014), and The second relationship of the second message items (10011, 10012, 10013, 10014) is weighted (1050, 1051, 1052, 1053, 1054) and generated period, Steps that depend on, The steps include optimizing the optimization function (1060) (107) considering 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), and determining the optimized message generation period (1070) and optimized data size (1071) of the object message (1010), The steps determined by performing the following: The steps include providing (109) an object message (1010) having the optimized message generation period (1070) and the optimized data size (1071) to be transmitted via the communication network (102), A method (100) including the following.

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

3. The step of providing the object message (1010) (109) is If the optimized data size is larger than the transmittable data size, the object message (1010) is segmented into at least a first object message segment and a second object message segment. The steps include 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 via the communication network (102), The method according to claim 1 (100), including the method according to claim 1.

4. The aforementioned correlation weights (1050, 1051, 1052, 1053, 1054) are, with respect to 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 other transmitting participant's presumed knowledge regarding the perceived object and / or the perceived area, Determined based on at least one of the following pieces of information: The method according to claim 1 (100).

5. The communication network (102) comprises at least a first channel and a second channel, each channel supporting a specific maximum data rate. The step of receiving (108) or estimating (108) a maximum data rate (1080) for transmitting the object message (1010) includes the steps of receiving or estimating a first maximum data rate for the first channel and receiving or estimating a second maximum data rate for the second channel, The above method (100) The steps of assigning a first object message to be transmitted over the first channel and / or assigning a second object message to be transmitted over the second channel, The steps include determining a first optimized message generation period and a first optimized data size for the first object message transmitted through the first channel, taking into account the maximum data rate of the allocated channel, and determining a second optimized message generation period and a second optimized data size for the second object message transmitted through the second channel, The steps include 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 according to claim 1 (100), including the method according to claim 1.

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

7. The steps include receiving channel information for at least one channel of the communication network (102) from the communication management entity, The steps include determining constraints based on the received channel information that should be considered when optimizing the optimization function (1060) (107), The method according to claim 1 (100), including the method described in claim 1.

8. The step of optimizing the optimization function (1060) (107) is: If the correlation weights (1050, 1051, 1052, 1053, 1054) of the message items (10011, 10012, 10013, 10014) are all the same, then the data size of the object message (1010) including the first message items (10011, 10012, 10013, 10014) and the second message items (10011, 10012, 10013, 10014) is, The optimized message generation period (1070) of the object message (1010) is equal to the maximum threshold of the message generation period. The value obtained by dividing the aforementioned data size by the optimized message generation period (1070) is still greater than the maximum data rate. It is reduced only if at least one of the following conditions is met. This includes the following constraints: The method according to claim 1 (100).

9. The step of optimizing the optimization function (1060) (107) is: If the association weights (1050, 1051, 1052, 1053, 1054) of the first message items (10011, 10012, 10013, 10014) are greater than the association weights (1050, 1051, 1052, 1053, 1054) of the second message items (10011, 10012, 10013, 10014), and if the data size reduction allows for a longer message generation cycle for the first message items (10011, 10012, 10013, 10014), then the data size of the object message (1010) is reduced. This includes the following constraints: The method according to claim 1 (100).

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

11. A message generation device for performing the method (100) according to any one of claims 1 to 10, A communication module (400), In order to receive information about the surrounding area (1001'), To acquire (103) the selected information (1001) relating to the surrounding area, including perceived objects and / or perceived regions, and to segment the selected information (1001) into at least the first message items (10011, 10012, 10013, 10014) and the second message items (10011, 10012, 10013, 10014), In order to transmit the selected information (1001) relating to the surrounding region to the evaluation unit (401), The communication module (400) and An auxiliary module (402) for receiving (108) or estimating (108) the maximum data rate (1080) from the communication management entity, The evaluation unit (401) is, In order to determine (1050, 1051, 1052, 1053, 1054) the first relevance weights (1050, 1051, 1052, 1053, 1054) of the first message items (10011, 10012, 10013, 10014) according to the content of the first message items (10011, 10012, 10013, 10014) according to the content of the second message items (10011, 10012, 10013, 10014) (105), In order to define the optimization function (1060) (106) in accordance with at least the first relevance weights (1050, 1051, 1052, 1053, 1054) and generation period of the first message items (10011, 10012, 10013, 10014) and the second relevance weights (1050, 1051, 1052, 1053, 1054) and generation period of the second message items (10011, 10012, 10013, 10014), Considering 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), the optimization function (1060) is optimized (107) to determine the optimized generation period (1070) and the optimized data size (1071) of the object message (1010), In order to provide (109) an object message (1010) having the optimized message generation period (1070) and the optimized data size (1071) to be transmitted via the communication network (102), The evaluation unit (401) and, A message generation device equipped with the following features.

12. The message generation device according to claim 11, wherein the evaluation unit (401) is suitable for implementing a trainable function and / or comprises a neural network for performing at least one of the steps of providing the object message (1010) having the optimized generation period (1070) and the optimized data size (1071) to be transmitted over the communication network (102).

13. A computer program comprising instructions for performing a step (100) of the method according to any one of claims 1 to 10.

14. A computer-readable recording medium storing the computer program described in claim 13.

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