So much talk about LIDAR and other sensors. Why nobody talks about obvious idea of Road Object Message Bus? ROMB is a protocol where each road object (a traffic light, a sign, a car, a bicycle, etc.) transmits info about itself. A car could broadcast its direction vector, intention to turn, any non ROMB moving object it sees. A traffic light could broadcast current state and when it is going to change. That information would greatly enhance overall security, especially during rain and snow conditions, when even LIDAR fails.
Self-driving is such important (just after eliminating combustion engines) that we could upgrade existing cars with cheap ROMB boxes. Vehicle GPS tracking system costs about $30. ROMB box would cost about $60. Let's say that from 2027 all cars have to have a ROMB box to enter a downtown ...
Let's say your car ROMB received info about the white truck, while your car cameras and vision recognition systems see just a cloud and any truck in 100 m range.
ROMB purpose is not to replace cameras or LIDARs, but to extend gathered info.