A method for tracking a non-connected vehicle is provided. The method includes obtaining one or more features of the non-connected vehicle, assigning an ID to the non-connected vehicle, the ID including information about the one or more features of the non-connected vehicle, predicting one or more locations of the non-connected vehicle in response to the non-connected vehicle being out of a field of view of a connected vehicle at a first location, identifying a vehicle at a second location, the second location corresponding to one of the predicted one or more locations, and determining whether the identified vehicle at the second location corresponds to the non-connected vehicle based on a comparison of one or more features of the identified vehicle and the ID.