That's one of the reasons lidar will prove to be a dead end for this application. It's a temporary enabling technology on the path to the simpler multiple camera based solution.
Camera's can't see in the dark. There is no perfect sensor. Waymo relies multiple sensor modalities: Cameras, Lidar, ultrasonics, radar, gps, inertial measurement units.
Best approach would be to use both lidar and cameras. They compliment each other