Apparatuses, methods and computer programs for a first transportation vehicle and a second transportation vehicle. The method for the first transportation vehicle includes generating an environmental perception message based on a perception model of an environment of the first transportation vehicle, wherein the perception model includes detected objects; transmitting the environmental perception message to one or more transportation vehicles located in a vicinity of the first transportation vehicle; determining one or more second transportation vehicles among the detected objects; and transmitting one or more wireless messages to the one or more second transportation vehicles. The one or more second transportation vehicles are addressed as destination of the one or more wireless messages by referencing one or more objects of the detected objects corresponding to the one or more second transportation vehicles within the environmental perception message.