A method for encoding a point cloud feature includes: obtaining an original point cloud, generating point-wise hybrid scale voxel features by conducting hybrid scale voxelization on the original point cloud; generating voxel-wise attention features using spatial features and voxel features of points in a voxel at each voxel scale; aggregating the hybrid scale voxel features and the attention features to obtain voxel-wise projection scale information; and mapping the voxel-wise projection scale information to pseudo image features at projection scales. In this way, points can be retained during voxelization, and a feature encoding network is guided by the attention features to be more attentive to interrelationships between points in the voxels, thereby increasing accuracy of three-dimensional object detection.