Vehicular ultrasonic sensing system with automatic sensor calibration

A vehicular ultrasonic sensing system, the vehicular ultrasonic sensing system comprising:

• a plurality of ultrasonic sensors disposed at a vehicle equipped with the vehicular ultrasonic sensing system, wherein each ultrasonic sensor of the plurality of ultrasonic sensors senses exterior of the vehicle, and wherein each ultrasonic sensor of the plurality of ultrasonic sensors is operable to capture sensor data;
• an electronic control unit (ECU) having electronic circuitry and associated software;
• wherein sensor data captured by each sensor is transferred to the ECU;
• wherein the electronic circuitry of the ECU comprises a processor, and wherein the processor is operable to process sensor data captured by each ultrasonic sensor of the plurality of ultrasonic sensors and transferred to the ECU;
• wherein, for each respective ultrasonic sensor of a pair of ultrasonic sensors of the plurality of ultrasonic sensors, the vehicular ultrasonic sensing system determines, based on processing at the ECU of sensor data captured by the respective ultrasonic sensor, a probability that the respective ultrasonic sensor of the pair of ultrasonic sensors correctly detects an object that is present within a field of sensing of the respective ultrasonic sensor;
• wherein, for each respective ultrasonic sensor of the pair of ultrasonic sensors of the plurality of ultrasonic sensors, the vehicular ultrasonic sensing system determines, based on processing at the ECU of sensor data captured by the respective ultrasonic sensor, a probability that the respective ultrasonic sensor of the pair of ultrasonic sensors incorrectly detects an object that is not present within the field of sensing of the respective ultrasonic sensor;
• and
• wherein the vehicular ultrasonic sensing system is calibrated based at least in part on (i) the determined probability that each ultrasonic sensor of the pair of ultrasonic sensors correctly detects an object and (ii) the determined probability that each ultrasonic sensor of the pair of ultrasonic sensors incorrectly detects an object.