System and vehicle

Various embodiments include a system for a vehicle having a body a door held on the body and pivotable about a pivot axis. An example includes: an obstacle identification system to detect a collision event occurring between the door and an object within surroundings of the vehicle; and a sensor pivotably held on the body, the sensor having a field of vision covering an angle about the pivot axis in plan view along the pivot axis. The field of vision covers a subregion of a total monitoring region of the obstacle identification system, wherein the field of vision is smaller than the total monitoring region.