A radar data processing method performed by a processor, the method comprising: predicting an angle-of-interest, AOI, region based on a Doppler map generated from radar data, the Doppler map being a map indicating Doppler information of target points sensed by a radar sensor , wherein a horizontal axis of the Doppler map represents a Doppler value and a vertical axis of the Doppler map represents a distance to a target point; wherein predicting the AOI region comprises determining a steering angle from a radar data processing apparatus that includes the radar sensor to a target point shown in the Doppler map, based on a velocity of the radar data processing apparatus and a Doppler velocity of the target point and assuming that the target point is stationary; adjusting steering information based on the predicted AOI region, the steering information being used to identify the radar data; and determining direction-of-arrival, DOA, information corresponding to the radar data based on the adjusted steering information; characterized in that adjusting the steering information comprises: generating a steering vector of a dimension corresponding to a number of reception (Rx) channels of the radar sensor ; and adding one or more steering vectors within the AOI region to the steering information; and in that determining the DOA information comprises: searching for a steering vector matched to the sensed radar data among steering vectors included in the steering information; and determining a steering angle mapped to a found steering vector as DOA information corresponding to the radar data. predicting an angle-of-interest, AOI, region based on a Doppler map generated from radar data, the Doppler map being a map indicating Doppler information of target points sensed by a radar sensor , wherein a horizontal axis of the Doppler map represents a Doppler value and a vertical axis of the Doppler map represents a distance to a target point; wherein predicting the AOI region comprises determining a steering angle from a radar data processing apparatus that includes the radar sensor to a target point shown in the Doppler map, based on a velocity of the radar data processing apparatus and a Doppler velocity of the target point and assuming that the target point is stationary; adjusting steering information based on the predicted AOI region, the steering information being used to identify the radar data; and determining direction-of-arrival, DOA, information corresponding to the radar data based on the adjusted steering information; characterized in that adjusting the steering information comprises: generating a steering vector of a dimension corresponding to a number of reception (Rx) channels of the radar sensor ; and adding one or more steering vectors within the AOI region to the steering information; and in that determining the DOA information comprises: searching for a steering vector matched to the sensed radar data among steering vectors included in the steering information; and determining a steering angle mapped to a found steering vector as DOA information corresponding to the radar data. generating a steering vector of a dimension corresponding to a number of reception (Rx) channels of the radar sensor ; and adding one or more steering vectors within the AOI region to the steering information; and in that determining the DOA information comprises: searching for a steering vector matched to the sensed radar data among steering vectors included in the steering information; and determining a steering angle mapped to a found steering vector as DOA information corresponding to the radar data. searching for a steering vector matched to the sensed radar data among steering vectors included in the steering information; and determining a steering angle mapped to a found steering vector as DOA information corresponding to the radar data. <EOS>