> because a flow sensor would be additional cost for negligible benefit?
Exactly. It's basically unnecessary given the other sources of information that the ECU has at its disposal.
It knows the target fuel pressure (some cars even have fuel pressure sensors) and it knows the flow characteristics of the injectors with respect to pressure and pulse width. That alone is enough for a decent calculation of fuel mass flow.
In addition to this, the ECU is also calculating the mass air flow into the engine, either directly via a MAF sensor or indirectly via manifold pressure, VE, and RPM (known speed density).
When it goes to target a specific air/fuel ratio, this is all the information that is really required. However, since injectors tend to deteriorate (clog, stick, etc.) over time, this initial calculation is usually “trimmed” by means of feedback from the oxygen sensor(s).
At the end of the day, there’s a fair amount of information available to the ECU which can be used to refine the fuel flow calculation.
The fuel consumption calculation on my 335i is usually within 0.5 MPG. However, my 2002 Maxima was about 3 MPG off.