determining 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, wherein the current of a motor is periodically collected in a process of controlling an operation of the motor to drive a closure component to close;

determining 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, 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, wherein N is an integer greater than or equal to 2;

detecting whether the closure component contacts with an obstacle, based on the second current change rate;

determining 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;

determining a real-time obstacle compression distance based on an initial contact position and a motor position collected in real time, wherein the initial contact position is determined based on a motor position collected when the closure component is detected to contact with the obstacle; and

determining a real-time pinch force based on the stiffness of the obstacle and the real-time obstacle compression distance, and controlling the motor to reverse in a case where the real-time pinch force is greater than a preset anti-pinch detection threshold, wherein the anti-pinch detection threshold is determined based on the stiffness of the obstacle.