A vehicle comprising a first and a second sensor module each comprising: • a rigid structure , • one or more first sensors of a first sensor type, wherein the one or more first sensors are rigidly mounted at the rigid structure such that they provide a first composed horizontal field of view around the sensor module, • one or more second sensors of a second sensor type, wherein the one or more second sensors are rigidly mounted at the rigid structure such that they provide a second composed horizontal field of view around the sensor module, wherein a field of view of the sensor module is composed by the first and second composed horizontal field of views , • an attachment mechanism configured to attach the rigid structure at the vehicle , characterized by that: wherein the field of view of one sensor module is an overlapping field of view covered by both the first composed horizontal field of view and the second composed horizontal field of view wherein a sum of the field of views of the first and second sensor modules is at least 540 degrees and wherein one of the sensor modules is arranged at a front corner of the vehicle and wherein the other sensor module is arranged at a rear corner at the opposite side of the vehicle such that the field of views of the two sensor modules together cover 360 degrees in relation to a reference point at the vehicle , and wherein the vehicle comprises two long sides and two short sides and wherein the attachment mechanism is arranged to position the first and second sensor modules at least partly outside an occlusion zone limited by extension lines of the long sides and the short sides .25 . • a rigid structure , • one or more first sensors of a first sensor type, wherein the one or more first sensors are rigidly mounted at the rigid structure such that they provide a first composed horizontal field of view around the sensor module, • one or more second sensors of a second sensor type, wherein the one or more second sensors are rigidly mounted at the rigid structure such that they provide a second composed horizontal field of view around the sensor module, wherein a field of view of the sensor module is composed by the first and second composed horizontal field of views , • an attachment mechanism configured to attach the rigid structure at the vehicle , wherein the field of view of one sensor module is an overlapping field of view covered by both the first composed horizontal field of view and the second composed horizontal field of view wherein a sum of the field of views of the first and second sensor modules is at least 540 degrees and wherein one of the sensor modules is arranged at a front corner of the vehicle and wherein the other sensor module is arranged at a rear corner at the opposite side of the vehicle such that the field of views of the two sensor modules together cover 360 degrees in relation to a reference point at the vehicle , and wherein the vehicle comprises two long sides and two short sides and wherein the attachment mechanism is arranged to position the first and second sensor modules at least partly outside an occlusion zone limited by extension lines of the long sides and the short sides .25 . <EOS>