A processing method based on an ultrasonic radar being covered by a foreign object, comprising: detecting whether the ultrasonic radar is covered by the foreign object, comprising: acquiring a waveform curve of aftershocks of the ultrasonic radar; and detecting , according to the waveform curve of the aftershocks, whether the ultrasonic radar is covered by the foreign object, when the result of the detecting is yes, outputting a notification information configured to indicate that the ultrasonic radar is covered by the foreign object; wherein after the result of the detecting is yes, the method is characterized by further comprising: determining whether a ringtime corresponding to the waveform curve of the aftershocks is greater than a predetermined ringtime; determining the foreign object that covers the ultrasonic radar belongs to a first foreign object database in response to the ringing time is greater than the predetermined ringtime; and determining the foreign object that covers the ultrasonic radar belongs to a second foreign object database in response to the ringing time is no greater than the predetermined ringtime; and starting a foreign object cleaning method corresponding to a determined foreign object database to remove the foreign object from the ultrasonic radar, wherein the determined foreign object database is one of the first and second foreign object databases, which the foreign object belongs to. detecting whether the ultrasonic radar is covered by the foreign object, comprising: acquiring a waveform curve of aftershocks of the ultrasonic radar; and detecting , according to the waveform curve of the aftershocks, whether the ultrasonic radar is covered by the foreign object, acquiring a waveform curve of aftershocks of the ultrasonic radar; and detecting , according to the waveform curve of the aftershocks, whether the ultrasonic radar is covered by the foreign object, when the result of the detecting is yes, outputting a notification information configured to indicate that the ultrasonic radar is covered by the foreign object; wherein after the result of the detecting is yes, the method is characterized by further comprising: determining whether a ringtime corresponding to the waveform curve of the aftershocks is greater than a predetermined ringtime; determining the foreign object that covers the ultrasonic radar belongs to a first foreign object database in response to the ringing time is greater than the predetermined ringtime; and determining the foreign object that covers the ultrasonic radar belongs to a second foreign object database in response to the ringing time is no greater than the predetermined ringtime; and starting a foreign object cleaning method corresponding to a determined foreign object database to remove the foreign object from the ultrasonic radar, wherein the determined foreign object database is one of the first and second foreign object databases, which the foreign object belongs to. determining whether a ringtime corresponding to the waveform curve of the aftershocks is greater than a predetermined ringtime; determining the foreign object that covers the ultrasonic radar belongs to a first foreign object database in response to the ringing time is greater than the predetermined ringtime; and determining the foreign object that covers the ultrasonic radar belongs to a second foreign object database in response to the ringing time is no greater than the predetermined ringtime; and starting a foreign object cleaning method corresponding to a determined foreign object database to remove the foreign object from the ultrasonic radar, wherein the determined foreign object database is one of the first and second foreign object databases, which the foreign object belongs to. <EOS>