But human eyes, even with the astonishingly masmart processing the human brain can do, are demonstrably NOT good enough - how the hell can 1.25 million deaths a year be considered "good enough"? What about when it's dark? Foggy? Blowing snow? Glaring low sun?
Sometimes LIDAR is going to be better, sometimes optical is going to be better. Having both (and maybe other detectors too, infrared for instance) give the possibility of being much better in most situations, if not all. Add in detectors such as skid detectors on wheels too. Then when all those imnputs are combined with vastly superior reaction times, control of power and braking to all four wheel individually, and so on and so on - you inevitably will have safer driving.
It is arguable that self-driving cars are not yet better than human drivers (we'll see as they start to do a significant number of miles on actual roads in actual traffic), However sooner or later the trial-and-error improvements in the algorithms, combined with multiple detectors and hardware able to process those inputs ever faster, and it is not arguable that simple visible-band imaging is good enough. We may or may not already be there, but we will be very soon.