Collision prevention warning method and device capable of tracking moving object

A collision prevention warning device, installed on a vehicle, including:

• at least two image capturing units, used to fetch a plurality of continuous images in a front region of 180 degrees;
• a vehicle body signal sensor unit, used to sense a dynamic signal of said vehicle,
• an image processing module, connected electrically to said two image capturing units, to identify continuous relative positions of said vehicle and at least a said obstacle in said images, to obtain a geometric characteristic parameter of length and width of said obstacle, and said image pixel characteristic parameter, then, use a binary tree sorter to sort said obstacles and among them at least a moving obstacle into various categories.
• a central processor, connected electrically to said vehicle body signal sensor unit and said image processing module, and it utilizes said moving obstacle and said dynamic signal to calculate continuous relative positions of said moving obstacle and said vehicle, to estimate a first collision region of said vehicle, then, it utilizes said Extended Kalman Filter Algorithm to obtain a second collision region of said moving obstacle, and then it estimates and obtains a collision point based on said first collision region and said second collision region, when said first collision region and said second region at least partially overlap each other, said central processor calculates a collision time, and outputs a control signal;
• and
• an alarm unit, connected electrically to said central processor, to receive said control signal and output an alarm signal.