A driving system for a first vehicle, comprising one or more sensors configured to obtain proximity data for two or more vehicles proximate the first vehicle, and a processor in communication with the one or more sensors and programmed to classify the two or more proximate vehicles as a cluster in response to a heading angle of the two or more proximate vehicles being within a threshold-angle tolerance and a distance between each of the two or more proximal vehicles being within a threshold-distance tolerance based on the proximity data, to classify each of the two or more proximate vehicles in the cluster as either a trigger vehicle being closest to the first vehicle or a non-trigger vehicle, and activate a driver assistance function in response to a determination that the trigger vehicle is in an estimated-driving path of the first vehicle.