A system, processing structure and method for performing vehicle intercept includes target acceleration estimation or blocking via a filter prior to deriving an interceptor acceleration time history via a guidance law. In the processing structure where the unknown target accelerations are blocked from affecting estimates, a guidance law is generated, stored and retrieved accounting for worst case target acceleration. In the processing structure where the target acceleration is presumed constant with a constant bank angle, the guidance law is closed form, exploiting constant heading angular velocity, and thus generated online.