A computing node to implement a management entity in a CP-based network. The node including processing circuitry configured to encode an inquiry message requesting information on CPS capabilities. Response messages are received from a set of sensing nodes of a plurality of sensing nodes in response to the inquiry message. The response messages include the information on the CPS capabilities of the set of sensing nodes. A notification message indicating selecting of a sensing node as a sensing coordinator is encoded for transmission. Sensed data received in a broadcast message from the sensing coordinator is decoded. The sensed data including data associated with one or more non-V2X capable sensing nodes.