Systems and methods for active blind zone assist

A method includes receiving, before a first time, a plurality of sensor values and identifying, based on the plurality of sensor values, a target vehicle in a blind zone of a host vehicle. The method also includes determining, at the first time, that the host vehicle is initiating a steering maneuver and identifying a plurality of time segments between the first time and a second time. The method also includes updating the plurality of sensor values and determining a heading angle of the target vehicle relative to the host vehicle. The method also includes estimating a position of the target vehicle at each time segment of the plurality of time segments and estimating, using each position of the target vehicle at each corresponding time segment of the plurality of time segments, a position of the target vehicle at the second time.