The disclosure includes embodiments for selecting Vehicle-to-Everything (V2X) data to be shared among vehicles in a cooperative vehicular system based on an uncertainty criterion. In some embodiments, a method for an ego vehicle includes: determining, by a sensor set of the ego vehicle, ego V2X data describing ego object information about a set of objects included in a roadway environment; receiving remote V2X data provided by a remote vehicle, where the remote V2X data describes remote object information about the set of objects from a perspective of the remote vehicle; determining uncertainty data describing an uncertainty about the ego object information based at least in part on an analysis of the ego object information relative to the remote object information; and updating the ego V2X data to form updated ego V2X data that describes ego object information that satisfies the uncertainty criterion.
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