I&#x27;m not sure if the biggest challenge is sensors or software. I don&#x27;t know what Tesla is running, but I have a strong feeling that software in the large is not up to the task of autonomous driving. Most software (including automotive) has only very limited realtime behavior due to memory allocations, OS preemption, interrupts, ..., error-prone programming languages like are used and resource (memory) usage is often unbounded. I can&#x27;t imagine that Tesla or anybody else that produces self-driving features at the moment is using something like Ada Ravenscar or advanced static validation techniques through all components that are involved in the self-driving features - and which are often quite complicated (image recognition, etc.) and therefore hard to run in such an environment.