A cleaning system for a lidar sensor system, the cleaning system having a wiping unit, a drive, and an adjustment unit, wherein the drive is designed to move the wiping unit along a movement axis on a surface of the lidar sensor system, wherein the wiping unit is designed to wipe the surface of the lidar sensor system, wherein the adjustment unit is designed to move the wiping unit relative to the drive along a longitudinal direction perpendicular to the movement axis.