> humans can drive with vision only, so self-driving should be able to as well

In May 2016, Tesla Model S driver Joshua Brown died in Williston, Florida, when his vehicle on Autopilot collided with a white tractor-trailer that turned across the highway. The Autopilot system and driver failed to detect the truck's white side against a brightly lit sky, causing the car to pass underneath the trailer.

Our eyes are supported by our brain's AGI which can evaluate the input from our eyes in context. All Tesla had is a camera, and it didn't perform as well as eyes + AGI would have.

When you don't have AGI, additional sensors can provide backup. LiDAR would have saved Joshua Brown's life.