A method of transmitting, by a V2X communication apparatus of a vehicle, a collective perception message, CPM, message, the method comprising: determining a transmission mode of the CPM message for generating collective perception for at least one object detected by the V2X communication apparatus; transmitting the CPM message based on the transmission mode of the CPM message for generating collective perception for at least one object detected by the V2X communication apparatus, characterized in that the CPM message corresponds to a first CPM message for transmitting dynamic data or a second CPM message for transmitting dynamic data and static data, wherein dynamic data refers to data which may change at every transmission of the CPM message and static data refers to data which remains the same for every transmission of the CPM message, the first CPM message includes a header and a dynamic container including dynamic data, the second CPM message includes the header, a dynamic container including the dynamic data and a static container including the static data, and the transmission mode is used to transmit the second CPM message less frequently than the first CPM message, wherein the transmission mode is one of: a first mode comprising transmitting the first CPM message at a first transmission interval, and transmitting the second CPM message at a second transmission interval, the first transmission interval being shorter than the second transmission interval, or a second mode comprising periodically transmitting the first CPM message and transmitting the second CPM message only when a predefined event occurs, or a third mode comprising transmitting the first CPM message at a first transmission interval, and transmitting the second CPM message at a second transmission interval, the first transmission interval being shorter than the second transmission interval, and further transmitting the second CPM message when a predefined event occurs. determining a transmission mode of the CPM message for generating collective perception for at least one object detected by the V2X communication apparatus; transmitting the CPM message based on the transmission mode of the CPM message for generating collective perception for at least one object detected by the V2X communication apparatus, characterized in that the CPM message corresponds to a first CPM message for transmitting dynamic data or a second CPM message for transmitting dynamic data and static data, wherein dynamic data refers to data which may change at every transmission of the CPM message and static data refers to data which remains the same for every transmission of the CPM message, the first CPM message includes a header and a dynamic container including dynamic data, the second CPM message includes the header, a dynamic container including the dynamic data and a static container including the static data, and the transmission mode is used to transmit the second CPM message less frequently than the first CPM message, wherein the transmission mode is one of: a first mode comprising transmitting the first CPM message at a first transmission interval, and transmitting the second CPM message at a second transmission interval, the first transmission interval being shorter than the second transmission interval, or a second mode comprising periodically transmitting the first CPM message and transmitting the second CPM message only when a predefined event occurs, or a third mode comprising transmitting the first CPM message at a first transmission interval, and transmitting the second CPM message at a second transmission interval, the first transmission interval being shorter than the second transmission interval, and further transmitting the second CPM message when a predefined event occurs. a first mode comprising transmitting the first CPM message at a first transmission interval, and transmitting the second CPM message at a second transmission interval, the first transmission interval being shorter than the second transmission interval, or a second mode comprising periodically transmitting the first CPM message and transmitting the second CPM message only when a predefined event occurs, or a third mode comprising transmitting the first CPM message at a first transmission interval, and transmitting the second CPM message at a second transmission interval, the first transmission interval being shorter than the second transmission interval, and further transmitting the second CPM message when a predefined event occurs.