Methods (100, 200, 300, 400, 700, 800) for controlling a carrier vehicle (10), comprising: Acquisition (102) of objects (RO) by means of a control (34) of the carrier vehicle (10), wherein the acquisition (102) of objects (RO) includes receiving
remote object data, which includes
remote object data class data and
location data, and which includes remote vehicles (RV) and remote infrastructure (RI); Assign (104), by the control (34), an
object class to each of the detected objects (RO) based on the class data; Assign (106), by the control (34), a priority value for each of the captured objects (RO) based on the
object class of each of the captured objects (RO); Assigning (108), by the controller (34), a transmit time interval, TTI, to cooperative sample messages, CSMs, based on the priority value, to modify the TTI of each of the CSMs according to the assigned TTI; Transfer (109) the CSMs to the remote vehicles (RV); where the
object class includes an unprotected
road user, VRU, class, a vehicle class, a
traffic sign class, and another class; where the vehicle class refers to remote vehicles (RV); where the VRU class refers to pedestrians and cyclists; and where the
traffic sign class refers to traffic signs and traffic symbols; wherein the assignment (104), by the control (34), of the object class to each of the captured objects (RO) based on the class data includes the assignment (104) of the VRU class to at least one of the remote objects (RO) in response to the capture (102) of the objects (RO) to indicate that at least one of the remote objects (RO) is a VRU; where the assignment (106), by control (34), of the priority value to each of the captured objects (RO) based on the object class of each of the captured objects (RO) includes: Assigning (106, 202, 204) a VRU priority value in response to assigning (106, 204) the VRU class to at least one of the remote objects (RO); Determine (304), based on the
location data, that the VRU is moving; Increasing (304) the VRU priority value by an initial, predetermined VRU value in response to determining (304) that the VRU is moving; Determine (306), based on the
location data, whether the VRU is located on a sidewalk (CW); Increasing (306) the VRU priority value by a second, predetermined VRU value in response to determining (306) that the VRU is on the sidewalk (CW); and where a change in the VRU priority value is equal to the sum of the first, predetermined VRU value and the second, predetermined VRU value.