This video of the Sprint ABM missile (0 to Mach 10 in 5 seconds!) shows it intercepting a ICBM RV in a test - given the speed of the RV it does look like the missile is aiming where the RV is going to be rather than where it is - and this is from the 1970s:
http://www.youtube.com/watch?v=msXtgTVMcuA