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This article discusses the design of an application specific MPSoC architecture dedicated to multiple target tracking (MTT). This application has its utility in driver assistant systems, more precisely in collision avoidance and warning systems. An automotive-radar is used as the front end sensor in our application. The article examines the tradeoffs that must be taken into consideration in the realization of the entire MTT application in an embedded system. In our implementation of MTT, several independent parallel tasks have been identified and mapped onto a multiprocessor architecture to ensure the deadlines imposed by the application. Our study demonstrates that the joint utilization of reconfigurable circuits (namely FPGA) and MPSoC, facilitates the development of a flexible and efficient MTT system.