Vehicle radar echo detection method and device

The invention provides a vehicle radar echo detection method and device, and the method comprises the steps: determining a first echo distance difference value for each radar in a vehicle according to a first ultrasonic signal returned by a target obstacle received by the radar in a current filtering period and a second ultrasonic signal in a previous filtering period; comparing the first echo distance difference value with a self-adaptive echo hopping threshold value, and determining an echo detection state of the current filtering period; when the echo detection state is an abnormal hopping state, determining a second hopping penalty value corresponding to the radar in the current filtering period based on a first hopping penalty value corresponding to the radar in the previous filtering period; and performing neighborhood echo inspection on the first ultrasonic signal, and generating a third ultrasonic signal and an updated second jump penalty value according to a correction mechanism corresponding to an i