A lidar vision system for a vehicle comprising - a light source comprising a laser arranged on an emitting side, adapted to emit a light beam to a scanned surface in the environment of the vehicle; - an optical component adapted to deflect a portion of the light beam through a first lens system towards the scanned surface and to scan the environment; - at least one light deflection device arranged on a receiving side, comprising 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; - a lidar light sensing device arranged on the receiving side to sense light redirected from the light deflection device in said first deflection direction; - a data processing unit; wherein the light source, the lidar light sensing device, and the data processing unit form a LIDAR system adapted to measure time-of-flight values, wherein said data processing unit is adapted to compute depth images based on the time-of-flight values, such that a depth image is recorded with the LIDAR light sensing device, characterized in that - said vision system comprises a detecting device arranged on the receiving side to sense light redirected from the light deflection device in the second deflection direction; - the data processing unit is adapted to process the data provided by said lidar light sensing device and by said detecting device in a combined manner; the detecting device is adapted to deliver information to the data processing unit that is complementary to the data by the lidar light sensing device, namely, RGB, greyscale or polarimetric images, such that the lidar light sensing device and the detecting device record complementary data from the vehicle's environment, wherein the complementary data are combined to a fused image by data fusion in the data processing unit. - a light source comprising a laser arranged on an emitting side, adapted to emit a light beam to a scanned surface in the environment of the vehicle; - an optical component adapted to deflect a portion of the light beam through a first lens system towards the scanned surface and to scan the environment; - at least one light deflection device arranged on a receiving side, comprising 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; - a lidar light sensing device arranged on the receiving side to sense light redirected from the light deflection device in said first deflection direction; - a data processing unit; wherein the light source, the lidar light sensing device, and the data processing unit form a LIDAR system adapted to measure time-of-flight values, wherein said data processing unit is adapted to compute depth images based on the time-of-flight values, such that a depth image is recorded with the LIDAR light sensing device, characterized in that wherein the light source, the lidar light sensing device, and the data processing unit form a LIDAR system adapted to measure time-of-flight values, wherein said data processing unit is adapted to compute depth images based on the time-of-flight values, such that a depth image is recorded with the LIDAR light sensing device, characterized in that - said vision system comprises a detecting device arranged on the receiving side to sense light redirected from the light deflection device in the second deflection direction; - the data processing unit is adapted to process the data provided by said lidar light sensing device and by said detecting device in a combined manner;