This paper proposes a novel single vehicle tracking algorithm with enhanced reliability for automotive radar systems. The proposed algorithm overcomes the weaknesses of the probabilistic data association filter (PDAF) in single-target tracking in clutter. The PDAF is successful in normal situations. but may fail to track a target owing to various factors. https://www.countryscenesaddleryandpetsuppliers.shop/product-category/syd-hill-leather-drovers-belt/