This paper proposed a real-time system to recognize and track multiple vehicles. The occlusion problem is solved by the occlusion segmentation method and propsoed recognition method uses the visual lenght, visual width, roof, windshield, and hood of vehicles to classify the vehicles to vans, utility vehicles, sedans, mini trucks, or large vehicle. Experiments obtained by using complex road scences are reported, which demonstrate the validity of the method in terms of robustness, accuracy, and time responses.