Method, device and computer program product for controlling an autonomous vehicle coupled to an implement, the method comprising: by at least one processing circuitry of a device adapted to be in communication with an autonomous vehicle coupled to an implement, executing code for: receiving sensory data relating to the implement acquired by at least one sensor deployed in an environment of the implement and configured for operating during working of the implement in the environment; determining, based on analyzing the sensory data, at least one of: instructions to modify a motion vector of the autonomous vehicle, and instructions to perform an actuation operation on the implement by the autonomous vehicle; generating at least one control command encoding the instructions; and communicating the at least one control command to the autonomous vehicle, wherein the autonomous vehicle applying the instructions in response to the at least one control command.