They work well when they are working. Things a different when something blocks the lens, when a mirror bounces the laser back on itself, or when the laser's view is obstructed by something (ussually the road) that isnt up to code. Then the concept of lidar as reliable or even useful comes into question. Forget the math of driving, it is beyond today's lidar to tell whether there is frost on its own lens, a very basic safety proceedure.