Pre-crash DENM message within an intelligent transport system

The present invention regards Cooperative Intelligent Transportation Systems, C-ITS. A single DENM, i.e. a warning message announcing a detected event such as an accident/collision or a risk of collision or a pre-crash situation, conveys information about multiple objects involved in the detected situation, in particular about the critical objects involved in the collision. The originating ITS station, ITS-S, quickly builds the DENM because containers describing the objects it perceives are already built in a so-called Local Dynamic Map or Environment Model. On the other side, the receiving ITS-S involved in the detected event obtains more information from the single DENM, compared to known technics (CAMs or CPMs). It can then perform a quicker analysis of the situation and then decide earlier to activate or not anti-collision or pre-crash functions.