What do you call the video of a Tesla mistaking the moon for a yellow traffic light[1], if not a detection failure? That wouldn't happen with a lidar-only or lidar-assisted system.
This is not necessarily a job for lidar, they are just omitting some checks.
At second 18 [1] a street light comes into play which looks similar to the moon. That relative movement is what the system should have been expecting from the moon, but they apparently just re-computed the assumption that the moon is a traffic light which is moving along with the car.
It's somewhat revealing that they are not doing these kind of checks. I actually can't believe that they aren't doing it, but I can't see a case where the traffic light would always be at the same spot, if you have velocity and acceleration data at hand.
A traffic light is a very important thing.