Method for using exteroceptive sensor data based on vehicle state or mission state

An autonomous vehicle comprising:

• a Lidar sensor;
• a radar sensor;
• an engine output control system;
• a braking control system;
• and
• a controller communicatively coupled with the Lidar sensor, the radar sensor, the engine output control system, and the braking control system, the controller configured to:
• sense an environment with the Lidar sensor to produce Lidar sensor data;
• receive implement state data for an implement coupled with or towed by the autonomous vehicle;
• determine whether the implement state data indicates the implement is in a dusty state;
• in the event the implement state data indicates the implement is in the dusty state, not use the Lidar sensor data to move the autonomous vehicle along a path;
• and
• in the event the implement state data indicates the implement is not in the dusty state, use the Lidar sensor data to move the autonomous vehicle along the path.