Method of communication between two agents, at least one of which is a mobile vehicle, wherein a first agent communicates with a second agent (B,701) comprising a sensor (110b,111b,112b,113b,114b), wherein the second agent (B,701) sends to the first agent, via a radio link (020, 030), features and control parameters of the sensor necessary to query the sensor (110b,111b,112b,113b, 114b), wherein the first agent sends to the sensor a request for data selected by the first agent on the basis of a selection criterion dependent on the features of the sensor, said request being generated using the control parameters of the sensor, and wherein the second agent sends to the first agent the sensor's data requested with said data request, characterised in that the control parameters include at least one virtual address of the sensor, and in that the first agent sends the request for data by: activating a virtual communication bus with the second agent, and wherein activation of the communication bus comprises: assigning a virtual address to the sensor, and creating, in the first agent and in the second agent, respective virtual transmission and reception ports (212a, 252a; 212b, 252b) associated with the sensor of the second agent, forwarding said request to the respective virtual transmission port, the request comprising the virtual address, wherein an encoder of the first agent receives the request via the virtual transmission port, encodes and sends the request to the second agent via the radio link, wherein the second agent receives the request from the first agent at the virtual reception port associated with the sensor, wherein the virtual reception port forwards the request on a local communication bus to the sensor associated with the virtual address comprised in the request, wherein the sensor receives the forwarded request and, in response to the forwarded request, sends the selected data to the virtual transmission port of the second agent, wherein an encoder of the second agent receives data via the virtual transmission port, encodes and sends the data to the first agent via the radio link. the second agent (B,701) sends to the first agent, via a radio link (020, 030), features and control parameters of the sensor necessary to query the sensor (110b,111b,112b,113b, 114b), wherein the first agent sends to the sensor a request for data selected by the first agent on the basis of a selection criterion dependent on the features of the sensor, said request being generated using the control parameters of the sensor, and wherein the second agent sends to the first agent the sensor's data requested with said data request, characterised in that the control parameters include at least one virtual address of the sensor, and in that the first agent sends the request for data by: activating a virtual communication bus with the second agent, and wherein activation of the communication bus comprises: assigning a virtual address to the sensor, and creating, in the first agent and in the second agent, respective virtual transmission and reception ports (212a, 252a; 212b, 252b) associated with the sensor of the second agent, forwarding said request to the respective virtual transmission port, the request comprising the virtual address, wherein an encoder of the first agent receives the request via the virtual transmission port, encodes and sends the request to the second agent via the radio link, wherein the second agent receives the request from the first agent at the virtual reception port associated with the sensor, wherein the virtual reception port forwards the request on a local communication bus to the sensor associated with the virtual address comprised in the request, wherein the sensor receives the forwarded request and, in response to the forwarded request, sends the selected data to the virtual transmission port of the second agent, wherein an encoder of the second agent receives data via the virtual transmission port, encodes and sends the data to the first agent via the radio link. activating a virtual communication bus with the second agent, and wherein activation of the communication bus comprises: assigning a virtual address to the sensor, and creating, in the first agent and in the second agent, respective virtual transmission and reception ports (212a, 252a; 212b, 252b) associated with the sensor of the second agent, assigning a virtual address to the sensor, and creating, in the first agent and in the second agent, respective virtual transmission and reception ports (212a, 252a; 212b, 252b) associated with the sensor of the second agent, forwarding said request to the respective virtual transmission port, the request comprising the virtual address, wherein an encoder of the first agent receives the request via the virtual transmission port, encodes and sends the request to the second agent via the radio link, wherein the second agent receives the request from the first agent at the virtual reception port associated with the sensor, wherein the virtual reception port forwards the request on a local communication bus to the sensor associated with the virtual address comprised in the request, wherein the sensor receives the forwarded request and, in response to the forwarded request, sends the selected data to the virtual transmission port of the second agent, wherein an encoder of the second agent receives data via the virtual transmission port, encodes and sends the data to the first agent via the radio link.