Vehicle sensor cleaning system with laminar flow

Disclosed herein are system, method, and computer program product embodiments for cleaning one or more sensors of a self-driving system (SDS). For example, the SDS is provided with a sensor with a lens that is formed with a convex outer surface. A nozzle is formed with an opening to provide a liquid in a stream at a fan angle relative to a spray axis. The nozzle is spaced apart from the sensor at a distance based on a radius of the lens and the fan angle and configured to spray the liquid with laminar flow onto a proximal end of the lens such that the liquid flows across the lens from the proximal end to a distal end of the lens to remove debris.