It is sound to think that cameras plus an accelerometer, plus data about about the car and environment (that you get from your ears) ought to be able to mimic and improve on human driving. However humans general purpose spatial awareness and ability to integrate all kinds of general information is probably really hard to replicate. A human would realize that an orange fluid spilling across the road might be slippery, guess the way a person might travel from the way their eyes are pointing...

It may just be faster to make lidar cheap. And lidar can do things humans can't.