Earlier quoted context omitted.
I would never trust any self driving car that didn't use LiDAR. It's an essential sensor for helping to fix issues like this: https://www.youtube.com/watch?v=1cSw4fXYqWI&feature=emb_logo And it's not contrived since we've seen situations of Telsa Autopilot behaving weirdly when it sees people on the side of billboards, trucks etc.
LIDAR vs camera is a red herring. The fact that Elon and his fan club fixate on this shows you how little they understand about self driving. The fundamental problem is that there is no technology that can provide the level of reasoning that is necessary for self driving. Andrej Karpathy's most recent presentation showed how his team trained a custom detector for stop signs with an "Except right turn" text underneath…
Even so, it is quite possible to train for this in general. Some human drivers will notice the sign and will override autopilot when it attempts to stop, this triggers a training data upload to Tesla. Even if the neural net does not 'understand' the words on the sign, it will learn that a stop is not necessary when that sign is present in conjunction with a stop sign.