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Aiming at the problems of unsatisfactory tracking effect, limited application place and low intelligence in the current market, an intelligent tracking vehicle which can follow markers independently is designed. The vehicle’s main controller is Arduino, and it integrates visual module, ultrasonic module, motor, steering gear and other peripheral equipment. With the help of OpenMV IDE software and OpenCV library, and through some key technologies and methods such as QR code recognition, digital image processing and PID control, the functions of real-time tracking and obstacle avoidance are realized. By using QR code recognition and decoding technology instead of traditional image recognition technology, the complexity of the algorithm and the time consumed to lock the target are reduced. At the same time, the ultrasonic ranging module is used to assist in adjusting the motor speed and steering direction, which not only improves the tracking effect, but also enhances the vehicle’s ability to avoid obstacles in sudden situations. The experiment results show that the vehicle can track the moving target stably and avoid all obstacles on the road independently in the range of 0.30 m-0.45 m from the marker, and the tracking distance is not limited.