Vehicle control using multiple sensors

One of two sensors is detected faulty by analyzing variation patterns outputted by the two sensors even when the outputs of two sensors remain within their respective normal output ranges. A control input is determined using the output of the fault-free sensor if a faulty sensor is detected. The fault detector detects the faulty sensor by analyzing variation patterns of outputs of the first and second sensors when the outputs of the first and second sensors remain within respective normal output ranges thereof.