An image acquisition device comprising: a plurality of image acquisition units, at least two of which (101, 102) are image acquisition units configured to acquire an image at a first frame rate, and at least one of which is an image acquisition unit configured to acquire an image at a second frame rate higher than the first frame rate; a moving object detection unit configured to detect a moving object based on an image obtained by the image acquisition unit configured to acquire an image at the second frame rate; and a distance detection unit configured to detect a distance to a subject based on disparity between a plurality of images acquired by the image acquisition units (101, 102) configured to acquire an image at the first frame rate, wherein said image acquisition units (101, 102) are installed to be apart in right and left sides having a predetermined distance between each other; and an image-acquisition timing signal generation unit configured to simultaneously output to the image acquisition units (101, 102) configured to acquire an image at the first frame rate image-acquisition timing signals corresponding to the first frame rate, and to output to the image acquisition unit configured to detect a moving object based on an image obtained at a second frame rate image-acquisition timing signals corresponding to the second frame rate for acquiring images at synchronized timing to each of the plurality of image acquisition units (101, 102, 103), wherein the plurality of image acquisition units (101, 102, 103) is configured to acquire images based on the respective input image-acquisition timing signals, and in case a moving object is detected by the moving object detection unit from an image captured by the image acquisition unit configured to detect a moving object based on an image obtained at a second frame rate at a first image-acquisition timing, the image-acquisition timing signal generation unit is configured to receive a notification from the moving object detection unit, and to output an image-acquisition timing signal to each of the image acquisition units (101, 102) configured to acquire an image at the first frame rate at a second image-acquisition timing, wherein a time period between the first and the second image-acquisition timing (T51, T52) corresponds to a frame period of the second frame rate, and each of the image acquisition units (101, 102) configured to acquire an image at the first frame rate is configured to acquire an image at the second image-acquisition timing for determining a distance of the moving object at a timing of the second frame rate. a plurality of image acquisition units, at least two of which (101, 102) are image acquisition units configured to acquire an image at a first frame rate, and at least one of which is an image acquisition unit configured to acquire an image at a second frame rate higher than the first frame rate; a moving object detection unit configured to detect a moving object based on an image obtained by the image acquisition unit configured to acquire an image at the second frame rate; and a distance detection unit configured to detect a distance to a subject based on disparity between a plurality of images acquired by the image acquisition units (101, 102) configured to acquire an image at the first frame rate, wherein said image acquisition units (101, 102) are installed to be apart in right and left sides having a predetermined distance between each other; and an image-acquisition timing signal generation unit configured to simultaneously output to the image acquisition units (101, 102) configured to acquire an image at the first frame rate image-acquisition timing signals corresponding to the first frame rate, and to output to the image acquisition unit configured to detect a moving object based on an image obtained at a second frame rate image-acquisition timing signals corresponding to the second frame rate for acquiring images at synchronized timing to each of the plurality of image acquisition units (101, 102, 103), wherein the plurality of image acquisition units (101, 102, 103) is configured to acquire images based on the respective input image-acquisition timing signals, and in case a moving object is detected by the moving object detection unit from an image captured by the image acquisition unit configured to detect a moving object based on an image obtained at a second frame rate at a first image-acquisition timing, the image-acquisition timing signal generation unit is configured to receive a notification from the moving object detection unit, and to output an image-acquisition timing signal to each of the image acquisition units (101, 102) configured to acquire an image at the first frame rate at a second image-acquisition timing, wherein a time period between the first and the second image-acquisition timing (T51, T52) corresponds to a frame period of the second frame rate, and each of the image acquisition units (101, 102) configured to acquire an image at the first frame rate is configured to acquire an image at the second image-acquisition timing for determining a distance of the moving object at a timing of the second frame rate.