Based on the requirement of removing water from the surface of the intelligent vehicle vision sensor, a device that uses piezoelectric transducers to excite Lamb waves to drive droplet motion is proposed, and a two-dimensional finite element model of piezoelectric vibrators and elastic plate is established in this paper. First, the frequency analysis of the piezoelectric vibrators under free boundary conditions is performed using COMSOL Multiphysics simulation software. The first 4 order eigenmodes are obtained, and the second order mode has the largest relative displacement of the structure, its characteristic frequency is the resonance frequency. Then, the propagation characteristics of the Lamb wave excited by the piezoelectric vibrator in the plate are analyzed. The results show that the Lamb waves appear to have significant dispersion characteristics in the plate, and the Lamb waves dominated by the A0 mode are excited by changing the piezoelectric vibrator spacing to improve the droplet driving effect. Finally, the feasibility of the Lamb wave driven droplet model is verified by experiments.