Tesla CEO Elon Musk has recently reiterated his public criticism of lidar, calling it the "wrong solution," and reaffirmed his consistent viewpoint: simulating biological neural networks and the visual system of the eyes is the most effective method in complex road driving environments. Unlike Tesla's "pure vision" approach, most domestic auto manufacturers and suppliers adopt a fused perception scheme. This scheme integrates various sensors including lidar, cameras, and millimeter-wave radar, aiming to enhance the system's redundancy and perception capabilities. Nevertheless, Musk still believes that the "perception inconsistency" caused by combining lidar and radar with vision prevents these technologies from achieving ideal results.