A method of predicting a movement of a cut-in object, including separating a Doppler velocity corresponding to at least one wheel of the cut-in object from radar data based on a velocity of the cut-in object, determining a position of the at least one wheel of the cut-in object based on the Doppler velocity, generating at least one of first movement information related to a horizontal movement of the cut-in object or second movement information related to a moving direction of the cut-in object based on the position of the at least one wheel, and determining a position of the cut-in object based on at least one of the first movement information or the second movement information.