Generation Rules for the Collective Perception Service

The Collective Perception service is currently being standardized in Europe. Besides the message format, very important design aspects are the generation rules governing when to generate a message and which data to include. These rules can heavily affect both the provided service quality for receiving Intelligent Transport System stations and the generated network load on the employed radio channel. This paper contributes a set of generation rules for the Collective Perception Service that provides a trade-off between these two factors. Their effectiveness is detailed in an extensive simulation study. Depending on specific radio channel and Decentralized Congestion Control settings, the simulations also reveal co-existence challenges with other services and messages disseminated on the same channel, e.g., the legacy Cooperative Awareness Message. The latter findings are thereby generalized as they apply to any additional message that needs to be disseminated along with the legacy Vehicle-to-X messages.