1. A vehicle comprising: a power source configured to provide electrical energy; a motor configured to receive electrical energy from the power source and generate rotational motion from the electrical energy received; and a computing device configured to estimate a temperature of the motor in real time based at least in part on a thermal model of the motor, wherein the thermal model includes a plurality of nodes and at least one thermal resistance; wherein each node represents a region of the motor and wherein each thermal resistance represents a heat transfer path between at least two of the nodes.