A collision prevention warning method and device capable of tracking a moving object, the method comprises the following steps. Firstly, capturing a plurality of continuous images in a front region of 180 degrees, through identifying category of at least an obstacle in these continuous images, to find a moving obstacle. Next, detect continuous relative positions of the moving obstacle and vehicle, to estimate a first collision region of the vehicle. Then, based on the continuous relative positions and an Extended Kalman Filter Algorithm, to estimate a second collision region of the moving obstacle. Finally, based on the first collision region and the second collision region to calculate a collision point. When the first collision region and the second collision region at least partially overlap each other, estimate out a collision time, and then output an alarm signal to warn the driver and raise driving safety.

Applied Country	Category	專利狀態	證書號	專利權期間	研究成果公告日期
TW	Intelligence and safety	獲證	I531499	2016/05/01~2032/12/03