Re: "...a [Lidar] blind spot low to the ground all around the car."
"There is no excuse for not detecting someone wheeling a bike. Far smaller targets should be detected and acted on."
And that's the bit that's really, really hard. Is it a paper bag? Is it a brick? Is it a plastic or glass bottle? Is it something that fell off the back of a lorry that might cause damage or and old newspaper just blowing in the wind?