An echo signal processing method, comprising: receiving (302; 603; 1303) at least two echo signals, wherein the at least two echo signals comprise a first echo signal and a second echo signal, and the first echo signal and the second echo signal are received in different directions; determining (303; 607; 1308) a first inflection point from the first echo signal, and determining a second inflection point from the second echo signal, wherein the first inflection point is a sampling point of the first echo signal, and amplitude values of left and right neighboring sampling points are less than an amplitude value of the first inflection point; and the second inflection point is a sampling point of the second echo signal, and amplitude values of left and right neighboring sampling point are less than an amplitude value of the second inflection point; dividing (601; 1301) a field of view, FOV, corresponding to receiving the at least two echo signals into a plurality of target areas, wherein the FOV comprises the target object; determining (605 ;1305) that a first direction in which the first echo signal is received and a second direction in which the second echo signal is received are located in a same target area; if yes, determining (305; 610; 1310) that a time difference between a first moment at which the first inflection point is received from the first echo signal and a second moment at which the second inflection point is received from the second echo signal is less than or equal to a first preset threshold; and if yes, combining (306; 611; 1311) the first echo signal and the second echo signal. receiving (302; 603; 1303) at least two echo signals, wherein the at least two echo signals comprise a first echo signal and a second echo signal, and the first echo signal and the second echo signal are received in different directions; determining (303; 607; 1308) a first inflection point from the first echo signal, and determining a second inflection point from the second echo signal, wherein the first inflection point is a sampling point of the first echo signal, and amplitude values of left and right neighboring sampling points are less than an amplitude value of the first inflection point; and the second inflection point is a sampling point of the second echo signal, and amplitude values of left and right neighboring sampling point are less than an amplitude value of the second inflection point; dividing (601; 1301) a field of view, FOV, corresponding to receiving the at least two echo signals into a plurality of target areas, wherein the FOV comprises the target object; determining (605 ;1305) that a first direction in which the first echo signal is received and a second direction in which the second echo signal is received are located in a same target area; if yes, determining (305; 610; 1310) that a time difference between a first moment at which the first inflection point is received from the first echo signal and a second moment at which the second inflection point is received from the second echo signal is less than or equal to a first preset threshold; and if yes, combining (306; 611; 1311) the first echo signal and the second echo signal. <EOS>