Individuals with Autism Spectrum Disorder (ASD) present atypical sensory processing in the perception of moving stimuli and biological motion. The present study aims to explore the performance of young adults with ASD in a time to contact (TTC) estimation task involving social and non-social stimuli. TTC estimation involves extrapolating the trajectory of a moving target concealed by an occluder, based on the visible portion of its path, to predict the target's arrival time at a specific position. Sixteen participants with a diagnosis of level-1 ASD (M = 19.2 years, SE = 0.54 years; 3 F, 13 M) and sixteen participants with TD (M = 22.3 years, SE = 0.44 years; 3 F, 13 M) took part in the study and underwent a TTC estimation task. The task presented two object types (a car and a point-light walker), different object speeds, occluder lengths, motion directions and motion congruency. For the car object, a larger overestimation of TTC emerged for ASDs than for TDs, whereas no difference between ASDs and TDs emerged for the point-light walker. ASDs exhibited a larger TTC overestimation for the car object than for the point-light walker, whereas no difference between object types emerged for TDs. Our results indicated an atypical TTC estimation process in young adults with ASD. Given its importance in daily life, future studies should further explore this skill. Significant effects that emerged from the analysis are discussed.