Method and apparatus for controlling of steering assistance system

A method for controlling a steering assistance system of a vehicle, the method comprising:

• obtaining first sensing data and second sensing data from a first sensor and a second sensor, respectively;
• identifying whether an error has occurred in one of the first sensor and the second sensor based on a difference between the first sensing data and the second sensing data;
• identifying which of the first sensor and the second sensor has the error, using the first sensing data, the second sensing data and a steering angle of a steering wheel of the vehicle;
• reidentifying an occurrence of the error by performing a time damper operation on sensing data corresponding to the identified sensor;
• and
• controlling the steering assistance system of the vehicle based on a result of the reidentifying,
• wherein the reidentifying comprises:
• counting a number of occurrences of the error in the identified sensor at a preset interval during a threshold time;
• and
• reidentifying that the error has occurred in the identified sensor when the counted number of occurrences of the error in the identified sensor is equal to or greater than a third threshold value.