Abstract: An apparatus for determining integrity of a sensor includes a signal transmission unit configured to sequentially operate each of a plurality of ultrasonic sensors mounted on a vehicle to generate respective output signals. The apparatus also includes a signal sensing unit configured to acquire a received value of an adjacent ultrasonic sensor adjacent to each of the plurality of ultrasonic sensors which generate the respective output signals. The apparatus further includes an anomaly determining unit configured to determine whether the received value is abnormal. The apparatus additionally includes a determination-result processing unit configured to perform a response for each of the ultrasonic sensors according to a result of determining anomaly.