Embodiments provide vehicle camera cleaning systems used for cleaning foreign matter off of a camera lens, including, for example, a water flow nozzle arranged to eject water flow, an air nozzle arranged to eject air, and a central controller used to control the water flow nozzle and air nozzle. In certain embodiments, a plurality of sensing devices are used for sensing the conditions of the camera lens, such as an infrared water drop sensor, a temperature sensor, a camera sensing sensor, and the like. The central controller may determine whether there are water drops, ice, snow, or other foreign matter on the lens based on signals received from the plurality of sensing devices, and may control the air nozzle and the water flow nozzle to clean the camera lens based on the foreign matter present.