The present disclosure relates to a vehicle. The vehicle includes a first set of cameras, including a first subset of cameras facing to the front of the vehicle; a second set of cameras, with focal lengths less than those of the first set of cameras, the second set of cameras including a second and a third subset of cameras, the second subset of cameras facing to the front of the vehicle, and third subset of cameras facing to a side front and/or a side of the vehicle; and a third set of cameras, with focal lengths less than those of the second set of cameras, the third set of cameras including a fourth and a fifth subset of camera, the fourth subset of cameras facing to the front of the vehicle, and the fifth subset of camera facing to the side front and/or side of the vehicle.