A method of operating a first device, the method comprising: obtaining, by the first device, environment information comprising one or more images of an environment in proximity to the first device, and/or a real-world traffic model, RTM; receiving, by the first device, one or more communication messages from a second device, wherein the one or more communication messages include relevance criteria which indicate one or more device characteristics of the second device and relevance criteria which indicate the first device, one or more device characteristics of the first device, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof; determining, by the first device, whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information; determining whether the first device is to coordinate with the second device based on the one or more device characteristics of the second device and the environment information, wherein the determining whether the first device is to coordinate with the second device based on the one or more device characteristics of the second device and the environment information comprises: transmitting one or more requests to the second device, wherein the one or more requests indicate the second device to perform an action, capture one or more images of the first device or a third device from the second device, or any combination thereof; and determining whether the second device is a non-spoofed device based on a response to the one or more requests; and performing, by the first device, an operation in response to the determination of whether the one or more communication messages are relevant to the first device and in response to the determination of whether the first device is to coordinate with the second device. obtaining, by the first device, environment information comprising one or more images of an environment in proximity to the first device, and/or a real-world traffic model, RTM; receiving, by the first device, one or more communication messages from a second device, wherein the one or more communication messages include relevance criteria which indicate one or more device characteristics of the second device and relevance criteria which indicate the first device, one or more device characteristics of the first device, one or more lanes, one or more intersections or areas, one or more pedestrian paths or bicycle paths, one or more signal characteristics from the second device or any combination thereof; determining, by the first device, whether the one or more communication messages are relevant to the first device based on the relevance criteria and the environment information; determining whether the first device is to coordinate with the second device based on the one or more device characteristics of the second device and the environment information, wherein the determining whether the first device is to coordinate with the second device based on the one or more device characteristics of the second device and the environment information comprises: transmitting one or more requests to the second device, wherein the one or more requests indicate the second device to perform an action, capture one or more images of the first device or a third device from the second device, or any combination thereof; and determining whether the second device is a non-spoofed device based on a response to the one or more requests; and transmitting one or more requests to the second device, wherein the one or more requests indicate the second device to perform an action, capture one or more images of the first device or a third device from the second device, or any combination thereof; and determining whether the second device is a non-spoofed device based on a response to the one or more requests; and performing, by the first device, an operation in response to the determination of whether the one or more communication messages are relevant to the first device and in response to the determination of whether the first device is to coordinate with the second device.