According to the disclosure, a radar control device comprises a plurality of radars mounted to a vehicle, each of the plurality of radars having a different detection area outside the vehicle, and a controller generating object information for an object based on a radar signal reflected by the object within the detection area. When the object moves from the detection area of at least one of the plurality of radars to a shadow area between different detection areas, the controller generates prediction information for the object in the shadow area based on object information last detected in the detection area.