Sensor cleaning control device and method based on recognition of surrounding objects around a vehicle

A sensor cleaning control device and method are based on recognition of surrounding objects around a vehicle. The control device and method are applied to a vehicle and consider an object recognized in scattering areas where contamination occurs due to a fluid sprayed from a nozzle to clean blockages or contamination on sensing portion covers provided at sensors, perform cleaning delay using the washer fluid through nozzle delay spraying by a controller, perform air cleaning not using the washer liquid through nozzle air spraying, and do not perform the cleaning through nozzle non-spraying due to replacement of data of other sensor so that the contamination of the object that is contaminated due to the sensor cleaning is reduced or prevented.