Sensor arrangement for an autonomously-powered commercial vehicles and a method for panoramic imaging

It is disclosed a sensor arrangement for an autonomously-powered commercial vehicles in order to allow an omnidirectional detection of an environment of the utility vehicle. The sensor arrangement comprises radar units (110) which are attachable in Fronteckbereiche of the utility vehicle; downwardly directed cameras (120) having a fish-eye lens, which are attachable to the front upper corner areas of the utility vehicle; at least one rearward sensor (130) which is attachable to a portion of the utility vehicle to provide a rear image capture; and an evaluation module. The evaluation module is adapted to image data of the radar units (110), the downwardly directed cameras (120) and to evaluate the at least one rearward sensor (130) to achieve the all-round coverage of the area.