A vehicle , comprising: a sensor system comprising: a first sensor subsystem (1441-1) configured for acquiring environmental information around the vehicle ; and a second sensor subsystem (1441-2) configured for acquiring environmental information around the vehicle , a computing system configured for sending a control instruction generated based on the first sensor subsystem (1441-1) or the second sensor subsystem (1441-2) to a control system according to at least the state of the sensor system ; and the control system configured for changing at least one of a direction of travel and a speed of the vehicle based on the control instruction received from the computing system , characterized in that the first sensor subsystem (1441-1) comprises a first set of sensors of a first type and a first set of sensors of a second type; an overlap of horizontal sensing ranges of the first set of sensors of the first type and the first set of sensors of the second type is at least 80% of the horizontal sensing range of the first set of sensors of the second type, wherein the first type is different from the second type; and in that the first sensor subsystem (1441-1) further comprises a second set of sensors of the first type and a second set of sensors of the second type; an overlap of horizontal sensing ranges of the second set of sensors of the first type and the second set of sensors of the second type is at least 80% of the horizontal sensing range of the second set of sensors of the second type. a sensor system comprising: a first sensor subsystem (1441-1) configured for acquiring environmental information around the vehicle ; and a second sensor subsystem (1441-2) configured for acquiring environmental information around the vehicle , a first sensor subsystem (1441-1) configured for acquiring environmental information around the vehicle ; and a second sensor subsystem (1441-2) configured for acquiring environmental information around the vehicle , a computing system configured for sending a control instruction generated based on the first sensor subsystem (1441-1) or the second sensor subsystem (1441-2) to a control system according to at least the state of the sensor system ; and the control system configured for changing at least one of a direction of travel and a speed of the vehicle based on the control instruction received from the computing system , characterized in that the first sensor subsystem (1441-1) comprises a first set of sensors of a first type and a first set of sensors of a second type; an overlap of horizontal sensing ranges of the first set of sensors of the first type and the first set of sensors of the second type is at least 80% of the horizontal sensing range of the first set of sensors of the second type, wherein the first type is different from the second type; and in that the first sensor subsystem (1441-1) further comprises a second set of sensors of the first type and a second set of sensors of the second type; an overlap of horizontal sensing ranges of the second set of sensors of the first type and the second set of sensors of the second type is at least 80% of the horizontal sensing range of the second set of sensors of the second type. <EOS>