Not in scenes with poor lighting, not in rain, not in fog, not in scenes with poor surface variation, and not at the ranges needed for safe on highway driving.
Sure. Problem is cameras are more similar to humans. So a camera based system will drive more like humans, and be less dangerous. If you use a Lidar based system and conditions are great for lidar, but terrible for cameras it's going to be very dangerous to mix autonomous lidar cars with human driven cars.
That's why you should have LIDAR and cameras, if nothing else so the car can use the cameras to predict and adjust to the condition-driven changes in behavior of the human drivers.