OpenCv: Object detection from a mobile camera

Hi,
In the context of my end of DUT intership I was asked to work on Image processing with OpenCv but I am a beginner and here is my problem:
I need to detect only moving objects from a camera situated on a car,for instance moving pedestrians, car who are moving slower or faster than me but not immobile pedestrians and cars who are going at the same speed as mine.
I have worked on Gaussian Mixture Models for background substraction but this only works with a quite static background.
So my problem is what method should I use to obtained these results (no haartraining it is not allowed) without forgetting that these results must be in real time or at least quite fluid.
I would appreciate any clues you guys could give me and I thank you in advance for having read all this.
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