The invention discloses a vehicle detection method based on target feature points, which belongs to the field of image processing. The method comprises steps: a transition matrix between a world coordinate system and a pixel coordinate system is acquired; a moving target area in a video is determined, feature points are extracted from the moving target area, pedal points are further determined, stable feature points are selected from the video, the stable feature points are tracked, a moving target track line is acquired, track line judgment is carried out according to the moving target track line, if the two track lines are judged to belong to the same vehicle, one is added to a vehicle counting result, and the above steps are repeated until the video is over. Through introducing a detection mode based on target feature point tracking and clustering to vehicle detection, compared with the prior art, environmental restrictions are reduced, stability and the detection precision are high, detection errors are reduced, and vehicle recognition accuracy is improved.