In a perfect world lidar is far superior. It's trivial to say "out of the 50M voxels returned, are any from where the car will be in 3 seconds". So lidar wins

In a perfect world lidar is far superior. It's trivial to say "out of the 50M voxels returned, are any from where the car will be in 3 seconds". So lidar wins in the best case, maybe even the average case. However in the real world where the car/sensors gets dirty/wet, and the air is filled with snowflakes, raindrops, or mist it gets much more complicated. Even if statistically better there's value to acting more like a human driver. After all the roads are filled with human controlled cars and any deviation from human norms because of weather(like wind, snow, rain, fog, and blown sand) cause problems.