A method of controlling one or more sensors on a moving vehicle to determine information relating to surroundings of the vehicle, comprising: identifying, by means of the one or more sensors and one or more computing devices, two or more targets of interest among the objects captured by the sensors; determining target information using the one or more computing devices, the target information comprising information relating to the identified two or more targets of interest; determining, by the one or more computing devices, two or more timing characteristics for capturing data relating to the two οr more targets of interest, the two or more timing characteristics being determined based on the target information and a predetermined set of rules relating to information need; and controlling, by the one or more computing devices, the one or more sensors to capture data relating to the two or more targets of interest based on the two or more determined timing characteristics; wherein: identifying two or more targets of interest comprises identifying first and second targets of interest; determining two or more timing characteristics comprises: determining a first rate of capture for capturing data relating to the first target of interest; and determining a second rate of capture for capturing data relating to the second target of interest, and capturing data relating to the two or more targets of interest based on the two or more determined timing characteristics comprises capturing a first dataset relating to the first target of interest at the first rate of capture and capturing a second dataset relating to the second target of interest at the second rate of capture. identifying, by means of the one or more sensors and one or more computing devices, two or more targets of interest among the objects captured by the sensors; determining target information using the one or more computing devices, the target information comprising information relating to the identified two or more targets of interest; determining, by the one or more computing devices, two or more timing characteristics for capturing data relating to the two οr more targets of interest, the two or more timing characteristics being determined based on the target information and a predetermined set of rules relating to information need; and controlling, by the one or more computing devices, the one or more sensors to capture data relating to the two or more targets of interest based on the two or more determined timing characteristics; wherein: identifying two or more targets of interest comprises identifying first and second targets of interest; determining two or more timing characteristics comprises: determining a first rate of capture for capturing data relating to the first target of interest; and determining a second rate of capture for capturing data relating to the second target of interest, and capturing data relating to the two or more targets of interest based on the two or more determined timing characteristics comprises capturing a first dataset relating to the first target of interest at the first rate of capture and capturing a second dataset relating to the second target of interest at the second rate of capture. identifying two or more targets of interest comprises identifying first and second targets of interest; determining two or more timing characteristics comprises: determining a first rate of capture for capturing data relating to the first target of interest; and determining a second rate of capture for capturing data relating to the second target of interest, and determining a first rate of capture for capturing data relating to the first target of interest; and determining a second rate of capture for capturing data relating to the second target of interest, and capturing data relating to the two or more targets of interest based on the two or more determined timing characteristics comprises capturing a first dataset relating to the first target of interest at the first rate of capture and capturing a second dataset relating to the second target of interest at the second rate of capture.