The sensors can look clean and dry, but any salt or dirt from the roads can stick to the back of one of them and this can cause it to malfunction, it only takes a spec or two on the sensor part and it thinks they are faulty. The frost or cold weather can open up the rubber seal and let dirt in. I have had this problem for the past two years and each time Renault try to sell me new sensors but each time I clean them, they work till the next cold spell.
Does the beep come on continuously straight away or after a few seconds? And if you park about 10 inches away from an object and then select reverse, do you get any beeping tones or just the single continuous tone? I found that if you take it out of reverse when you hear the continuous tone and then put it back in reverse, you can get 3 seconds of it working properly before it goes continuous, enough time to get it parked up if you try this a couple of times.