Vehicle ultrasonic sensor detection

A computer comprising a processor and a memory, the memory storing instructions executable to:

• receive range data from a plurality of ultrasonic sensors on a vehicle, the ultrasonic sensors having respective fields of view, the fields of view overlapping, the range data including distances traveled by pulses emitted by the ultrasonic sensors and received by the ultrasonic sensors;
• determine a first ellipse from a first pulse of the range data, the first pulse emitted by a different one of the ultrasonic sensors than received the first pulse;
• determine a second ellipse from a second pulse of the range data, the second pulse emitted by a different one of the ultrasonic sensors than received the second pulse;
• determine a plurality of intersections of the first ellipse and the second ellipse;
• exclude a subset of the intersections based on the fields of view;
• identify a point for which a horizontal angle from one edge of the field of view of a first ultrasonic sensor of the ultrasonic sensors to the point is equal to a horizontal angle from the other edge of the field of view to the point and which is located at a distance determined from a third pulse emitted from and received by the first ultrasonic sensor;
• fuse the point and the nonexcluded intersections by executing a sensor fusion algorithm taking the point and the nonexcluded intersections as inputs representing independent estimates of a location of an object;
• and
• actuate a component of the vehicle based on the fusion of the point and the nonexcluded intersections.