The Audi sensors are quite well known for going wrong. As Burnerman says if you get the continous beep like you are about to hit something then it is usually a sensor.
Take it to a VAG specialist (not a main dealer) they will be able to perform a scan of the system and tell you which one is faulty. There is information on the internet that says you can determine which sensor is faulty by putting your ear next to them, if it doesn't buzz its faulty. There are two problems with this, firstly it involves you crouching down behind a car with it in reverse gear - not very safe. Secondly the sensors don't always short and stop working completely - they have to osciliate to a particluar frequency, this sometimes slips and although the sensor hasn't completely given up it doesn't read right.
Last point is when you have identified the faulty sensor buy a new one from Ebay, they are about £25 on there, £61 from the main dealer.