Lidar sensor and control method thereof

A lidar sensor comprising:

• a transmitter configured to transmit laser;
• a receiver configured to receive reflected laser;
• a mirror rotating unit configured to rotate a mirror in a designated direction, the mirror serving to reflect the transmitted or received laser;
• a cover;
• a cleaning device driving unit configured to drive a cleaning device to remove foreign matters adhering to the cover of the lidar sensor;
• a hardware control unit configured to control the transmitter, the receiver, and the cleaning device driving unit;
• and
• a hardware signal processing unit configured to determine when or where the lidar sensor is covered and calculate a distance to an object, through operation timing information of the cleaning device or analysis of a received signal outputted from the receiver,
• wherein the hardware control unit is configured to control the transmitter not to transmit a laser signal or control a rotational velocity or rotation time of the mirror at a point of time that the lidar sensor is covered by the cleaning device, based on the operation timing information of the cleaning device, and control detection or utilization of the received signal when the distance to the object is calculated.