does your camera have an "AI servo" mode? If so, have your Tv and Av dialed in before hand. When the object is coming towards you, but at a further distance from where you want to capture the image, have your center focus point locked on to the object. Track the object as it comes towards you. When the object is passing you take the shot. I would try to use a continuous shooting mode to capture the shot; maybe 3 shots. Thus increasing the chance of getting a good shot. You basically pan and shoot at the same time.
If you don't know what AI Servo is, I would suggest reading your manual for the proper usage of your "AI Servo" or equivalent. But in short, it's the camera's ability to track and constantly change to focus as it moves.
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