Your basically looking at leading the target.
Taking the velocity of the shot you can calculate the time it will take to reach the targets current position.
Time = (Distance between You and Target) / Bullet Speed
Use the result multiplied by the Speed of the target you can get an intercept distance.
Intercept Distance = Time * Target Speed
Targets forward vector * Intercept distance will give you the lead padding.
Prediction Location = Target Location + Padding
