Real-time parameter based obstacle detection

A system comprising:

• a motor operational to pull a panel towards a body;
• wherein:
• a striker or a latch is attached to the panel and is operational to interact with the latch or the striker on the body;
• the panel is held against the body in a closed condition;
• and
• the panel is moveable relative to the body while in an open condition;
• and
• a controller operational to:
• calculate an estimated angular velocity of the motor based on a current signal through the motor and a voltage signal applied to the motor;
• calculate a power produced by the motor in response to the current signal and the voltage signal;
• calculate a real-time parameter in response to the estimated angular velocity and the power;
• and
• stop the motor in response to the real-time parameter relative to a parameter threshold to avoid an obstacle from being pinched between the panel and the body.

A vehicle comprising:

• a body;
• a panel moveably coupled to the body;
• a striker or a latch attached to the panel and operational to interact with the latch or the striker attached to the body, wherein the panel is:
• held against the body in a closed condition;
• and
• moveable relative to the body while in an open condition;
• a motor operational to pull the panel towards the body;
• and
• a controller operational to:
• calculate an estimated angular velocity of the motor based on a current signal through the motor and a voltage signal applied to the motor;
• calculate a power produced by the motor in response to the current signal and the voltage signal;
• calculate a real-time parameter in response to the estimated angular velocity and the power;
• and
• stop the motor in response to the real-time parameter relative to a parameter threshold to avoid an obstacle from being pinched between the panel and the body.