Sensing method, touch panel driving device, and touch panel device

There is provided a sensing method of a touch panel driving device configured to perform scanning of sequentially selecting a pair of adjacent transmission signal lines and a pair of adjacent reception signal lines on a touch panel and select between a first mode and a second mode having higher sensitivity than the first mode as reception signal sensitivity of a pair of reception signal lines, comprising: a first sequence of performing the scanning in setting of the second mode to select the first mode or the second mode; and a second sequence of performing the scanning in the setting state of the mode selected in the first sequence to perform touch detection and generating information indicating a touched position.