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I get your point about camera vs lidar. Humans do have other senses in play while driving though. We have touch/vibration (feeling the road surface texture), hearing, proprioception / acceleration sense, etc. These are all involved for me when I drive a car.
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To be fair, humans are fairly poor drivers and generally can't be trusted to drive millions of miles safely.
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Actually humans are fairly good drivers. The average US driver goes almost 2 million miles between causing injury collisions. Take the drunks and drug users out and the numbers for humans look even better.
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Incorrect. Humans are fairly good engineers, so cars are pretty safe nowadays.

If you include minor fender-benders and unreported incidents, estimates drop to around 100,000–200,000 miles between any collision event.

This is cataclysmically bad for a designed system, which is why targets are super-human, not human.

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