A driver assistance system comprising: a RADAR system; a video system; and a vehicle control system, the vehicle control system including a processor configured to receive an indication from the RADAR system of a new object detected in a driving lane occupied by a host vehicle, determine if another vehicle has previously been identified as a target vehicle and is currently being monitored by the vehicle control system in an adjacent driving lane, when there is no other vehicle currently being monitored by the vehicle control system in the adjacent lane, identify the new object as a target vehicle, when there is another vehicle currently being monitored by the vehicle control system in the adjacent lane, determine, by the RADAR system, a relative velocity of the new object with respect to the host vehicle and compare the relative velocity of the new object to a threshold, when the relative velocity of the new object is greater than the threshold, identify the new object as a target vehicle, when the relative velocity of the new object is below the threshold determine, by the video system, if a lane is a free lane, when the lane is not a free lane, identify the new object as a target vehicle, and when the lane is a free lane identify the new object as a non-vehicle. a RADAR system; a video system; and a vehicle control system, the vehicle control system including a processor configured to receive an indication from the RADAR system of a new object detected in a driving lane occupied by a host vehicle, determine if another vehicle has previously been identified as a target vehicle and is currently being monitored by the vehicle control system in an adjacent driving lane, when there is no other vehicle currently being monitored by the vehicle control system in the adjacent lane, identify the new object as a target vehicle, when there is another vehicle currently being monitored by the vehicle control system in the adjacent lane, determine, by the RADAR system, a relative velocity of the new object with respect to the host vehicle and compare the relative velocity of the new object to a threshold, when the relative velocity of the new object is greater than the threshold, identify the new object as a target vehicle, when the relative velocity of the new object is below the threshold determine, by the video system, if a lane is a free lane, when the lane is not a free lane, identify the new object as a target vehicle, and when the lane is a free lane identify the new object as a non-vehicle. receive an indication from the RADAR system of a new object detected in a driving lane occupied by a host vehicle, determine if another vehicle has previously been identified as a target vehicle and is currently being monitored by the vehicle control system in an adjacent driving lane, when there is no other vehicle currently being monitored by the vehicle control system in the adjacent lane, identify the new object as a target vehicle, when there is another vehicle currently being monitored by the vehicle control system in the adjacent lane, determine, by the RADAR system, a relative velocity of the new object with respect to the host vehicle and compare the relative velocity of the new object to a threshold, when the relative velocity of the new object is greater than the threshold, identify the new object as a target vehicle, when the relative velocity of the new object is below the threshold determine, by the video system, if a lane is a free lane, when the lane is not a free lane, identify the new object as a target vehicle, and when the lane is a free lane identify the new object as a non-vehicle.