Abstract: The paper begins with the idea of meeting the needs of cultivating innovative talents on Embedded System of undergraduate students.After the analysis of the professional features of Embedded System and the characters of the students in Beijing University of Technology,we build a teaching model(GLPEI):Goal orientation-Learning and training-Practicing-Expanding-Innovation,and we discuss the model in detail both practically and theoretically.And then we explore it in the Experimental Class on Embedded System. At last,we give suggestions on the model perfection.