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Predictive sensing applications are starting to find wide applications in automotive safety applications. In collision situations the need to alert the driver and to take effective countermeasures to meet the needs of the vehicle occupant safety is becoming increasingly more dependent on sensors. Electronic systems to provide warning and to implement active adaptation of occupant restraints to provide for enhanced safety protection are becoming more dependent on active safety sensors. This paper deals with a system that uses radar sensors that provides the ability to cluster the number of vehicles based on radar return signals and to actively track their movement with a Kalman filter.