Method and apparatus for determining sensor integrity using signals from an adjacent sensor

An apparatus for determining integrity of a sensor, the apparatus comprising:

• a signal transmission unit configured to sequentially operate each of a plurality of ultrasonic sensors mounted on a vehicle to generate respective output signals;
• a signal sensing unit configured to acquire a received value of an adjacent ultrasonic sensor adjacent to each of the plurality of ultrasonic sensors that generate the respective output signals;
• an anomaly determining unit configured to determine whether the received value is abnormal;
• and
• a determination-result processing unit configured to perform a response for each of the ultrasonic sensors according to a result of determining anomaly,
• wherein the determination-result processing unit is configured to reset each reference value for each of the ultrasonic sensors when i) an error equal to or greater than a first threshold value compared to the reference value occurs in the received value of an ultrasonic sensor adjacent to any one of the ultrasonic sensors generating the output signal and ii) a number of received values having an error equal to or greater than a second threshold value compared to the reference value among received values of ultrasonic sensors adjacent to each of the ultrasonic sensors is equal to or greater than a threshold number,
• wherein the determination-result processing unit is configured to
• calculate, as a variation, an average of errors for each of the received values having an error equal to or greater than the second threshold value compared to the reference value, and
• calculate a new reference value for each of the plurality of ultrasonic sensors based on the variation.