A vehicle includes a liftgate system for mitigating a liftgate from contacting an object within a closing path of the liftgate. The liftgate system includes the liftgate, a camera, and a processor. The liftgate includes a surface facing an interior of the vehicle when the liftgate is closed. The camera is disposed on the surface. The processor detects, via the camera, an object within a closing path of the liftgate. The processors estimate a trajectory of the object when the object is in motion. The processor controls the liftgate based on the estimated trajectory and a speed setting at which the liftgate closes.