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It's hard to imagine that one of the existing car companies has developed a reliable urban self-driving, that is better than Google's.

I don't know, some are pretty good, and they don't even need the LIDAR: https://youtu.be/r_RFzC_G5BA

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Highway self-driving is pretty much consumer-grade now. Infiniti already has it in their vehicles. Telsa is planning on rolling it out this summer. The main problem is urban and suburban driving and dealing with unexpected situations such as jaywalkers or a cyclists running stoplights or a kid running out after a ball.

That wasn't just highway, but here's a more urban setting, with pedestrian avoidance: https://www.youtube.com/watch?v=AihC5flC-38

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