A method of sending a V2X message of a vehicle, the method comprising: collecting sensor data obtained from a plurality of sensors mounted on the vehicle to detect a surrounding object; generating a collective perception, CP, message including sensor information on the plurality of sensors and object information on the detected surrounding object; and sending the CP message, wherein the CP message comprises (i) a header, (ii) a basic container, (iii) an originating station container including information of the vehicle, and (iv) a perceived object container including information on the detected surrounding object, wherein the basic container comprises a generation time field representing a generation time of the CP message and a station type field representing a type of the vehicle, wherein the originating station container comprises (i) a sensor type field representing sensor types for the plurality of sensors and (ii) a sub-sensor type field including additional information for the plurality of sensors according to the sensor types, wherein information included in the sub-sensor type field is configured differently based on possible values of the sensor type field, and wherein the sub-sensor type field is configured based on a specific value of the possible values of the sensor type field comprises a plurality of information on different features of sensor of a same sensor type which is determined based on the specific value of the sensor type field, and wherein the perceived object container includes lane position information including (i) information for a lane position of the detected surrounding object and (ii) information for a lane type related to a direction of a lane on which the detected surrounding object is positioned. collecting sensor data obtained from a plurality of sensors mounted on the vehicle to detect a surrounding object; generating a collective perception, CP, message including sensor information on the plurality of sensors and object information on the detected surrounding object; and sending the CP message, wherein the CP message comprises (i) a header, (ii) a basic container, (iii) an originating station container including information of the vehicle, and (iv) a perceived object container including information on the detected surrounding object, wherein the basic container comprises a generation time field representing a generation time of the CP message and a station type field representing a type of the vehicle, wherein the originating station container comprises (i) a sensor type field representing sensor types for the plurality of sensors and (ii) a sub-sensor type field including additional information for the plurality of sensors according to the sensor types, wherein information included in the sub-sensor type field is configured differently based on possible values of the sensor type field, and wherein the sub-sensor type field is configured based on a specific value of the possible values of the sensor type field comprises a plurality of information on different features of sensor of a same sensor type which is determined based on the specific value of the sensor type field, and wherein the perceived object container includes lane position information including (i) information for a lane position of the detected surrounding object and (ii) information for a lane type related to a direction of a lane on which the detected surrounding object is positioned.