A method of transmitting a vehicle-to-pedestrian, V2P, message, the method comprising: checking, by a transmitting apparatus of the V2P message, whether a timer, used for identifying compression of the V2P message, is running or not; A) when the timer is not running, generating and storing, by the transmitting apparatus of the V2P message, an identifier and subsequently starting the timer; generating, by the transmitting apparatus of the V2P message, a personal safety message, PSM, according to a predetermined method and storing, by the transmitting apparatus of the V2P message, the generated PSM as a lead V2P message; and transmitting, by the transmitting apparatus of the V2P message, the generated identifier and the lead V2P message, including a compression indicator indicating that the lead V2P message is not compressed wherein the generation of the identifier configures the identifier to be used, by a receiving apparatus of the V2P message, subsequently to identify the lead V2P message and refer to the lead V2P message to decompress a compressed V2P message generated based on the lead V2P message; B) when the timer is running, compressing a PSM according to a predetermined method based on a previously stored lead V2P message; and transmitting the compressed V2P message including the previously stored identifier and the compressed PSM after transmission of the lead V2P message; wherein compressing the PSM comprises removing a first predetermined field included in the lead V2P message from the compressed V2P message, or compressing the PSM comprises, for a second predetermined field included in the lead V2P message, including a delta value corresponding to a difference from a value of the second predetermined field of the lead V2P message as the second predetermined field of the compressed V2P message. A) when the timer is not running, generating and storing, by the transmitting apparatus of the V2P message, an identifier and subsequently starting the timer; generating, by the transmitting apparatus of the V2P message, a personal safety message, PSM, according to a predetermined method and storing, by the transmitting apparatus of the V2P message, the generated PSM as a lead V2P message; and transmitting, by the transmitting apparatus of the V2P message, the generated identifier and the lead V2P message, including a compression indicator indicating that the lead V2P message is not compressed wherein the generation of the identifier configures the identifier to be used, by a receiving apparatus of the V2P message, subsequently to identify the lead V2P message and refer to the lead V2P message to decompress a compressed V2P message generated based on the lead V2P message; generating and storing, by the transmitting apparatus of the V2P message, an identifier and subsequently starting the timer; generating, by the transmitting apparatus of the V2P message, a personal safety message, PSM, according to a predetermined method and storing, by the transmitting apparatus of the V2P message, the generated PSM as a lead V2P message; and transmitting, by the transmitting apparatus of the V2P message, the generated identifier and the lead V2P message, including a compression indicator indicating that the lead V2P message is not compressed wherein the generation of the identifier configures the identifier to be used, by a receiving apparatus of the V2P message, subsequently to identify the lead V2P message and refer to the lead V2P message to decompress a compressed V2P message generated based on the lead V2P message; B) when the timer is running, compressing a PSM according to a predetermined method based on a previously stored lead V2P message; and transmitting the compressed V2P message including the previously stored identifier and the compressed PSM after transmission of the lead V2P message; wherein compressing the PSM comprises removing a first predetermined field included in the lead V2P message from the compressed V2P message, or compressing the PSM comprises, for a second predetermined field included in the lead V2P message, including a delta value corresponding to a difference from a value of the second predetermined field of the lead V2P message as the second predetermined field of the compressed V2P message. compressing a PSM according to a predetermined method based on a previously stored lead V2P message; and transmitting the compressed V2P message including the previously stored identifier and the compressed PSM after transmission of the lead V2P message; wherein compressing the PSM comprises removing a first predetermined field included in the lead V2P message from the compressed V2P message, or compressing the PSM comprises, for a second predetermined field included in the lead V2P message, including a delta value corresponding to a difference from a value of the second predetermined field of the lead V2P message as the second predetermined field of the compressed V2P message.