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