The present disclosure is related to connected vehicles, computer-assisted and/or autonomous driving vehicles, Internet of Vehicles (IoV), Intelligent Transportation Systems (ITS), and Vehicle-to-Everything (V2X) technologies, and in particular, to enhanced collective perception service (CPS) reporting mechanisms. The enhanced collective perception reporting mechanisms utilize multiple collective perception message (CPM) reporting mechanisms to share CPS data with reduced communication overhead, reduced latency, reduced processing complexity, and at the same time, enabling sharing information related to perceived and/or detected objects.