A self-driving vehicle, SDV, comprising: a plurality of sensors configured to generate sensor data (115; 211); and a control system to execute instructions that cause the control system to: detect a plurality of conditions by analyzing the sensor data that the plurality of sensors of the SDV produce, wherein the plurality of conditions comprises one or more operating parameters of the SDV and a state of the surrounding environment of the SDV, wherein the one or more operating parameters of the SDV include: a speed of the SDV, an acceleration of the SDV, a direction of movement of the SDV, a traction of the SDV, and a vehicle status, wherein the vehicle status includes a parked or moving status of the SDV; select a set of sensors from the plurality of sensors based on performance characteristics of each of the plurality of sensors associated with the detected plurality of conditions; prioritize a less accurate sensor which is configured to provide the sensor data that are processed quicker over a more accurate sensor which is configured to provide the sensor data that are processed longer for the detected plurality of conditions; and prioritize the sensor data generated from the selected set of sensors to control one or more aspects relating to the operation of the SDV based on the one or more operating parameters of the SDV and the performance characteristics of each of the plurality of sensors associated with the detected plurality of conditions. a plurality of sensors configured to generate sensor data (115; 211); and a control system to execute instructions that cause the control system to: detect a plurality of conditions by analyzing the sensor data that the plurality of sensors of the SDV produce, wherein the plurality of conditions comprises one or more operating parameters of the SDV and a state of the surrounding environment of the SDV, wherein the one or more operating parameters of the SDV include: a speed of the SDV, an acceleration of the SDV, a direction of movement of the SDV, a traction of the SDV, and a vehicle status, wherein the vehicle status includes a parked or moving status of the SDV; select a set of sensors from the plurality of sensors based on performance characteristics of each of the plurality of sensors associated with the detected plurality of conditions; prioritize a less accurate sensor which is configured to provide the sensor data that are processed quicker over a more accurate sensor which is configured to provide the sensor data that are processed longer for the detected plurality of conditions; and prioritize the sensor data generated from the selected set of sensors to control one or more aspects relating to the operation of the SDV based on the one or more operating parameters of the SDV and the performance characteristics of each of the plurality of sensors associated with the detected plurality of conditions. detect a plurality of conditions by analyzing the sensor data that the plurality of sensors of the SDV produce, wherein the plurality of conditions comprises one or more operating parameters of the SDV and a state of the surrounding environment of the SDV, wherein the one or more operating parameters of the SDV include: a speed of the SDV, an acceleration of the SDV, a direction of movement of the SDV, a traction of the SDV, and a vehicle status, wherein the vehicle status includes a parked or moving status of the SDV; select a set of sensors from the plurality of sensors based on performance characteristics of each of the plurality of sensors associated with the detected plurality of conditions; prioritize a less accurate sensor which is configured to provide the sensor data that are processed quicker over a more accurate sensor which is configured to provide the sensor data that are processed longer for the detected plurality of conditions; and prioritize the sensor data generated from the selected set of sensors to control one or more aspects relating to the operation of the SDV based on the one or more operating parameters of the SDV and the performance characteristics of each of the plurality of sensors associated with the detected plurality of conditions.