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.roneverhart.com/84-inch-Outswing-Double-Door-Security-Door-Bars-ESI-SB-01-0084/