A method for tracking a moving vehicle includes detecting the vehicle by acquiring a series of temporal related image frames. In an initial frame, the detecting includes locating a reference feature representative of a vehicle. The method further includes setting the reference feature as a full-size template. The method includes tracking the vehicle by searching a current frame for features matching the full-size template and at least one scaled template. The tracking further includes setting as an updated template one of the full-size and scaled templates closest matching the feature. The method includes repeating the tracking using the updated template for each next frame in the series.