and i'm no expert on it. Perhaps mik3 can point to additional companies but it looks like two companies that have logged the most miles that are both using Lidar is Waymo, backed by Google and Baidu based in China.

One of Baidu’s commercialized products is the Abolong L4 Autonomous Bus developed in collaboration with King Long. This small autonomous bus is now operating commercially in enclosed campuses across 24 Chinese cities. The first batch of 100 vehicles rolled off the production line in July of 2018. As of July 2019, the bus has already served more than 40,000 passengers.

It seems like there are several companies that are pursuing L4 driving including a joint venture between GM, Honda and others. The company is called Cruise, not to be confused with the Chevy Cruze.