Autonomous driving technology has made remarkable progress over the past decade, but the commercialization of Level 4 remains a distant prospect. We examine three key barriers identified by experts. First, there's the issue of sensor cost. High-performance LiDAR sensors still cost thousands of dollars, making them prohibitively expensive for mass-market vehicles. Second, there's a lack of edge case data. While autonomous systems handle everyday driving scenarios well, their ability to respond to unexpected situations is still insufficient. Third, there's the delay in legal and regulatory frameworks. Legal frameworks, including liability in the event of an accident and insurance issues, have not yet been established.