Anti-pinch detection method and system

An anti-pinch detection system, comprising a current collecting unit, a position collecting unit, and a controller, wherein

• the controller is configured to:
• control the current collecting unit to collect a current of a motor in a preset current collection period, in a process of controlling an operation of the motor to drive a closure component to close;
• control the position collecting unit to collect a motor position of the motor in real time;
• determine a first current change rate based on a current collected in a present current collection period and a current collected in a previous current collection period, wherein the previous current collection period is a current collection period before the present current collection period and immediately adjacent to the present current collection period;
• determine a second current change rate based on the current collected in the present current collection period and a current collected in a target current collection period;
• detect whether the closure component contacts with an obstacle based on the second current change rate;
• determine a stiffness of the obstacle based on the first current change rate, in a case where the closure component is detected to contact with the obstacle;
• determine a real-time obstacle compression distance based on an initial contact position and a motor position collected in real time;
• and
• determine a real-time pinch force based on the stiffness of the obstacle and the real-time obstacle compression distance, and control the motor to reverse in a case where the real-time pinch force is greater than a preset anti-pinch detection threshold,
• wherein the target current collection period is a current collection period before the present current collection period and there are N current collection periods between the target current collection period and the present current collection period, where N is an integer greater than or equal to 2;
• the initial contact position is determined based on a motor position collected by the position collecting unit when the closure component is detected to contact with the obstacle;
• and the anti-pinch detection threshold is determined based on the stiffness of the obstacle.