Earlier quoted context omitted.
I guess until all autonomous vehicles are fully equipped with real sensors (likely both lidar and radar) so that cars can almost-mechanically stop before foreseeable collisions without worrying about AI hiccups. This is technically possible even now, but it's way too expensive for now.
Why should lidar be a requirement when that's not a requirement for humans to be able to drive? The goal is to reduce traffic fatalities, humans are not reliable, if you say we can't have automation until its 100% perfect, then you are actively choosing to have more traffic fatalities.
99.99% of daytime highway dashcam frames don't include a firetruck stopped in the lane, dealing with an accident.
But let's say, hypothetically, that a self-driving car accelerated into a clearly visible, stationary firetruck in clear daylight. Despite being 99.99% perfect.
Legislators might feel in order to be an above-average driver the vehicle shouldn't hit any clearly visible stationary objects in clear daylight, because the median human driver doesn't do that.