What will an inquest say?
Having seen the video then i think it is clear an average car driver woudl have stopped long before the women. The lighting and visibility was good. The road condition is good. Not even tight.
A poor driver who did not notice her coming across the road may or may not have ht her but woudl have slowed considerably when he finally notice her may 50 60 meters away. Forget the standard highway code stopping distance my car does much much better than that in an emergeny.
The only way a human would have hit her at speed is if the driver was both poor and inattentive.
The other thing is the difficutly of a human tasked with monitoring an autonomous car waiting to take over. When the circumstances necessary to take over arise, unless the monitoring driver is in a heightened state of alertness it will be far too late. If vehicle safety requires such monitoring then I do not think it is safe for anything other than very short journeys in which the necessary alertness can be maintained. It should not be allowed on the roads except for short well controlled trips.
Coming back to an inquest. It seems ot me Uber are culpable at least in not having an adequate backup system which recognises the monitoring roles dificulty. How long had the car been driving. What was the description of the task? What other task were they given?
The LIDAR thing seems a red herring. I think it liekly it got returns from teh women but did nto handle them correclt ybut if it is possible nto to get returns from a person and bicycle then it should not be relied on. The woman was visible for a long time, even with the unreasonably poor video without any action taken.