Whether you use cameras and/or lidar, the vehicle itself better undergo a reformat before any AV tech is applied. IMO, there is a considerable chance that a ‘self-driver’ will not reach Level 5 autonomy for years to come. Below: the sleeker the car, the more margin there is to evade other road users. Also: curbside seating of the person behind the controls allows for much better view on both sides of the road. My findings have been brought to the attention of the NHTSA, and will be featured in an upcoming article in a magazine which is dedicated to latest AV developments.