Moving-object-traceable anti-collision warning method and device thereof

The invention provides a moving-object-traceable anti-collision warning method and a device thereof. The device is arranged on a vehicle, a plurality of continuous images in 180 degrees of a front area are captured, at least one kind of obstacles among the continuous images is recognized through the images, and dynamic obstacles are found out; continuous relative positions of the dynamic obstacles and the vehicle are detected, and a first collision area of the vehicle is estimated; a second collision area of the dynamic obstacles is estimated according to the continuous relative positions and an extended kalman filtering algorithm; finally, a first collision point is estimated according to the first collision area and the second collision area, when the first collision area and the second collision area are at least partially overlapped, collision time is estimated, and a warning signal is output to warn a driver so as to improve driving safety.