[mitchellgoffpc]

They use both radar and cameras, but primarily cameras. Lines, road markings, stop lights, and street signs can only be detected with vision, but cars+pedestrians can (usually) be verified by both radar and cameras. In fact, they’ve mentioned that they use radar data to help train the camera neural nets to predict distances more accurately. However, radar alone isn’t sufficient for detecting obstacles — it sometimes misses vehicles with a lot of ground clearance, and sometimes registers false positives when driving underneath bridges and overpasses, resulting in phantom braking.