BLOCKAGE DETECTION OF HIGH-RESOLUTION LIDAR SENSOR

A lidar sensor assembly includes a plurality of light sources configured to generate light and a plurality of photodetectors for detecting the light potentially reflected off of objects in a field of view. Each of the photodetectors is associated with and configured to receive the light generated by one of the plurality of light sources. A generally transparent cover is disposed between (a) at least one of plurality of light sources and the plurality of photodetectors and (b) the field of view. The assembly further includes a processor in communication with the plurality of light sources and the plurality of photodetectors. The processor is configured to receive signals from the plurality of photodetectors. The processor is further configured to determine whether a blockage of the generally transparent cover exists based at least partially on the signals from the plurality of photodetectors.