Re: LIDAR vs. computer vision
There does seem to be disagreement about the necessity of LIDAR. LIDAR generates a point cloud, which is then processed to develop a model of the car's environment. Computer vision can achieve the same outcome and has the benefit of being able to recognise objects only visible to drivers - e.g. speed limit signs, road markings etc. Depth perception requires inference - this is a moving object, this is stationary, this is a parked car etc.
LIDAR does have the advantage of directly measuring distance but It has it's own problems - coverage/field of view, range, compatibility with rain/mist/fog.
You could argue that both are necessary, but the problem then becomes fusing the sensor outputs and dealing with disagreements. Personally, I think Tesla is on the right track but has a long (infinite?) way to go before achieving anything beyond L3 autonomy. So does Mobileye and every other autonomous driving solution in development.