A vision system for a vehicle comprising - a single emitting unit comprising a single light source arranged on an emitting side, adapted to emit a light beam to a scanned surface in the environment of the vehicle, and a single scanning device; - exactly two receiving units arranged on a receiving side and comprising one light deflection device (6a, 6b) each, one common light sensing device, and a lens arrangement with a field of view, - wherein the number of light sensing devices equals one; - wherein said two receiving units use the same light sensing device, such that the light incident on the deflection device belonging to one receiving unit can be deflected on the light sensing device and the light incident on the other deflection device belonging to the other receiving unit can be deflected on the same light sensing device; wherein - each light deflection device (6a, 6b) comprises an array of light deflection elements, wherein each light deflection element is adapted to redirect light which is incident on said light deflection element from the scanned surface, and to change the direction of the redirected light between at least a first deflection direction and a second deflection direction; - the one light sensing device is adapted to sense light redirected from the light deflection devices (6a, 6b) in said first deflection direction; - the lens arrangement is adapted to focus a reflected light beam (16a, 16b) from the scanned surface to the corresponding light deflection device (6a, 6b); - a data processing device; - wherein the one light source, the one light sensing device, and the data processing device form one LIDAR system to measure a set of time-of-flight values; wherein - the lens arrangement comprises a plurality of lens systems (11a, 11b); and a reflected light beam portion of the light beam enters the receiving units by passing the lens arrangement, wherein - each one of the plurality of lens systems (11a, 11b) is adapted to focus a portion (16a, 16b) of the reflected light beam corresponding to a fraction (90a, 90b) of the field of view to the corresponding light deflection device (6a, 6b), the lens arrangement is adapted to partition the field of view so that the fractions (90a, 90b) of the field of view corresponding to the plurality of lens systems (11a, 11b) overlap, wherein the plurality of lens systems (11a, 11b) is adapted to divide the field of view so that the fractions (90a, 90b) align horizontally, wherein the lens systems (11a, 11b) are arranged with differing optical axes to achieve a set of fractions (90a, 90b) of the field of view. - a single emitting unit comprising a single light source arranged on an emitting side, adapted to emit a light beam to a scanned surface in the environment of the vehicle, and a single scanning device; - exactly two receiving units arranged on a receiving side and comprising one light deflection device (6a, 6b) each, one common light sensing device, and a lens arrangement with a field of view, - wherein the number of light sensing devices equals one; - wherein said two receiving units use the same light sensing device, such that the light incident on the deflection device belonging to one receiving unit can be deflected on the light sensing device and the light incident on the other deflection device belonging to the other receiving unit can be deflected on the same light sensing device; wherein - each light deflection device (6a, 6b) comprises an array of light deflection elements, wherein each light deflection element is adapted to redirect light which is incident on said light deflection element from the scanned surface, and to change the direction of the redirected light between at least a first deflection direction and a second deflection direction; - the one light sensing device is adapted to sense light redirected from the light deflection devices (6a, 6b) in said first deflection direction; - the lens arrangement is adapted to focus a reflected light beam (16a, 16b) from the scanned surface to the corresponding light deflection device (6a, 6b); - a data processing device; - wherein the one light source, the one light sensing device, and the data processing device form one LIDAR system to measure a set of time-of-flight values; wherein - the lens arrangement comprises a plurality of lens systems (11a, 11b); and a reflected light beam portion of the light beam enters the receiving units by passing the lens arrangement, wherein - each one of the plurality of lens systems (11a, 11b) is adapted to focus a portion (16a, 16b) of the reflected light beam corresponding to a fraction (90a, 90b) of the field of view to the corresponding light deflection device (6a, 6b),