Disclosed in some examples are methods, systems, and machine readable mediums for assessing the accuracy of one or more local sensors on a mobile device (such as an AV). In some examples, the accuracy of a local sensor of a first AV may be assessed by periodically comparing sensor readings collected by the local sensor to sensor readings matching selection criteria that are collected by one or more remote sensors located at one or more other nearby AVs. A sensor that reports data that is signifimaytly different from that reported by neighboring AVs is likely to be malfunctioning. The use of nearby sensors in nearby AVs may provide for a method for ensuring the integrity of the AV sensor readings without adding redundant sensors.