  The Collective Perception Service (CPS) enables the enhancement of
environmental awareness of Intelligent Transport System Stations (ITS-S)
through the exchange of tracking information between stations. As the market
penetration of CPS is growing, the intelligent distribution of the limited
communication resources becomes more and more challenging. To address this
problem, the ETSI CPS proposes dynamic-based object selection to generate
Collective Perception Messages. However, this approach has limits and barely
considers detection accuracy and the recent information available at other
ITS-Ss in the transmission range. We show a proposal considering the current
object tracking accuracy in the local environment and the object tracking from
messages received by other stations in order to intelligently decide whether to
include an object in a CPM. The algorithm decides based on the relative entropy
between the local and V2X tracking accuracy if the object information is
valuable for the nearby stations. Our simulation according to the ITS-G5
standard shows that the Channel Busy Ratio (CBR) can be reduced with
accuracy-based generation of CPM while improving Object Tracking Accuracy (OTA)
compared to generation based on ETSI rules.
