"In the crashes that ODI has reviewed, the system did not detect common
roadway conditions that impaired camera visibility and/or provide alerts when camera performance had deteriorated until immediately before the crash occurred."

Does it not detect them at all, or fail to deal with detected sensor degradation adequately?
Does "Full Self Driving (assisted)" slow down under conditions of poor visibility?

Does Tesla even look for the road surface? One big advantage of those up-top LIDAR units is that you have a good scan of the pavement ahead. If you're not sensing flat pavement ahead, don't go there. That's basic. Vision-only systems, going back to Mobileye, have been overly dependent on looking for known kinds of obstacles. Original Mobileye could only detect car rear ends.