DEVICE, VEHICLE AND METHOD FOR V2X SYSTEM

A device, suitable for a V2X (Vehicle-to-everything) system, is disclosed. The device includes a wireless transceiver and a processor. The wireless transceiver is configured to receive a first collective perception message from a transmitting device of the V2X system. The first collective perception message comprises a first object age of a perceived object of the first collective perception message calculated by the transmitting device. The processor is coupled to the wireless transceiver, and the processor is configured to calculate a second object age of the perceived object of a second collective perception message. The second object age comprises a processing delay of the device and the first object age.