A radar system suitable for an automated vehicle, said system comprising: a radar-sensor mounted on a host-vehicle, said radar-sensor operable to detect radar-signals reflected by scattering-points of a target-vehicle located proximate to the host-vehicle when the host-vehicle is moving; and a controller in communication with the radar-sensor, said controller configured to: determine a present-range-rate, a present-range, and a present-azimuth of each of the scattering-points from the target-vehicle at a present-time; recall a prior-range-rate, a prior-range, and a prior-azimuth of each of the scattering-points from the target-vehicle at a prior-time; determine a nearest longitudinal distance of the scattering-points and an average lateral distance of the scattering-points based on the present-range, the present-range-rate, the present-azimuth, a velocity of the host-vehicle, and a quantity of the scattering-points at the present-time; wherein the nearest longitudinal distance of the scattering points and the average lateral distance of the scattering points are a synthetic pseudo-measurement for the position of a reference point of the target vehicle; calculate a synthetic measurement that provides a mathematical relationship between a yaw-rate of the target-vehicle and the detected radar signals, the synthetic measurement calculated based on the nearest longitudinal distance of the scattering-points, the average lateral distance of the scattering points, the present-range-rate, the velocity of the host-vehicle, and the present-azimuth; calculate the yaw-rate of the target-vehicle at the present-time based on the present-range-rate, the present-range, the present-azimuth, the prior-range-rate, the prior-range, and the prior-azimuth of each of the scattering-points; and estimate a travel-vector of the target-vehicle at the present-time based on the velocity of the host-vehicle, coordinates of a reference point on the target-vehicle relative to a vehicle coordinate system of the host-vehicle, and the yaw rate of the target-vehicle at the present-time. a radar-sensor mounted on a host-vehicle, said radar-sensor operable to detect radar-signals reflected by scattering-points of a target-vehicle located proximate to the host-vehicle when the host-vehicle is moving; and a controller in communication with the radar-sensor, said controller configured to: determine a present-range-rate, a present-range, and a present-azimuth of each of the scattering-points from the target-vehicle at a present-time; recall a prior-range-rate, a prior-range, and a prior-azimuth of each of the scattering-points from the target-vehicle at a prior-time; determine a nearest longitudinal distance of the scattering-points and an average lateral distance of the scattering-points based on the present-range, the present-range-rate, the present-azimuth, a velocity of the host-vehicle, and a quantity of the scattering-points determine a present-range-rate, a present-range, and a present-azimuth of each of the scattering-points from the target-vehicle at a present-time; recall a prior-range-rate, a prior-range, and a prior-azimuth of each of the scattering-points from the target-vehicle at a prior-time; determine a nearest longitudinal distance of the scattering-points and an average lateral distance of the scattering-points based on the present-range, the present-range-rate, the present-azimuth, a velocity of the host-vehicle, and a quantity of the scattering-points at the present-time; wherein the nearest longitudinal distance of the scattering points and the average lateral distance of the scattering points are a synthetic pseudo-measurement for the position of a reference point of the target vehicle; calculate a synthetic measurement that provides a mathematical relationship between a yaw-rate of the target-vehicle and the detected radar signals, the synthetic measurement calculated based on the nearest longitudinal distance of the scattering-points, the average lateral distance of the scattering points, the present-range-rate, the velocity of the host-vehicle, and the present-azimuth; calculate the yaw-rate of the target-vehicle at the present-time based on the present-range-rate, the present-range, the present-azimuth, the prior-range-rate, the prior-range, and the prior-azimuth of each of the scattering-points; and estimate a travel-vector of the target-vehicle at the present-time based on the velocity of the host-vehicle, coordinates of a reference point on the target-vehicle relative to a vehicle coordinate calculate a synthetic measurement that provides a mathematical relationship between a yaw-rate of the target-vehicle and the detected radar signals, the synthetic measurement calculated based on the nearest longitudinal distance of the scattering-points, the average lateral distance of the scattering points, the present-range-rate, the velocity of the host-vehicle, and the present-azimuth; calculate the yaw-rate of the target-vehicle at the present-time based on the present-range-rate, the present-range, the present-azimuth, the prior-range-rate, the prior-range, and the prior-azimuth of each of the scattering-points; and estimate a travel-vector of the target-vehicle at the present-time based on the velocity of the host-vehicle, coordinates of a reference point on the target-vehicle relative to a vehicle coordinate system of the host-vehicle, and the yaw rate of the target-vehicle at the present-time.