The invention discloses a vehicle tracking method for an unmanned aerial vehicle based on an embedded platform, which mainly solves the problem in the prior art that the unmanned aerial vehicle loses tracking when vehicle tracking is blocked. The implementation steps are: 1. Train the vehicle classifier and mark the map; 2. Get a frame of image and initialize the tracking target; 3. Get a frame of image for target tracking; 4. Use the classifier to judge whether the target is blocked, if so, Go to step 5, otherwise go to step 8; 5. Determine whether the target is in the occluded area of the map, if yes, go to step 6, otherwise go to step 7; 6. Perform target detection in the occluded area and make the drone hover, go to step 9; 7. Predict the target position; 8. Control the flight of the UAV according to the target; 9. Determine whether it is over, if so, end the tracking, otherwise return to step 3. The invention can detect and track the blocked target, improves the tracking robustness, and can be used for tracking vehicles on urban roads.