If one assume that the value of the car depreciates in a linear fashion, then:
21,000 - 18,800 = a decline of an approximated $2,200/year
So, the value 4 more years into the future is:
V(5) = 21,000 - 5 * 2,200 = $21,000 - $11,000 = $10,000
So, the estimated depreciated value of the car 5 years after purchase is: $10,000