1. Vehicle needed lidar
2. Vehicle should have a collision detection indicator for anomalous collisions and random mechanical problems

This is directly a result of Elon’s edict that Tesla cars don’t use lidar. If you aren’t aware Elon set that as a requirement at the beginning of Tesla’s self driving project because he didn’t want to spend the money on lidar for all Tesla cars.

His “first principles” logic is that humans don’t use lidar therefore self driving should be able to be accomplished without (expensive) enhanced vision tools. While this statement has some modicum of truth, it’s obviously going to trade off safely in situations where vision is compromised. Think fog or sunlight shining in your cameras / eyes or a person running across the street at night wearing all black. There are obvious scenarios where lidar is a massive safety advantage, but Elon made a decision for $$ to not have that. This sounds like a direct and obvious outcome of that edict.