[Fronzie]

The motivations I have seen were:

- If radar/lidar fails, vision needs to work. If vision works, radar/lidar are not needed. - Sensor fusion is hard: outliers in radar data ended up hurting more than the non-outliers helped.

The second one sounds to me like the real reason: Sensor fusion is not trivial and if it doesn't work correctly, you'll get the worst of all worlds.

[PeterisP]

If radar/lidar fails, it's perfectly fine for vision to work just barely enough to slow down for a few seconds while telling you that you're going to have to self-drive yourself.