Method and device for controlling an electric motor of a motorized opening / closing system for a vehicle's tailgate

Abstract

The present invention relates to a method and device for controlling an electric motor of a motorized opening / closing system for a tailgate (101) of a vehicle (10). From an open position in which the tailgate (101) is held by a motorized cylinder (102) whose electric motor is short-circuited, manually moving the tailgate (101) to a closed position involves receiving one or more signals, each comprising a set of electrical pulses. This set of pulses is, for example, received from a position sensor associated with the cylinder. The number of pulses received is compared to a threshold value. When the number of pulses received reaches this threshold value, the short circuit of the electric motor is removed, thereby reducing the resistance in the cylinders (102) induced by the electric motor. Figure 1

Description

Title of the invention: Method and device for controlling an electric motor of a motorized opening / closing system for a vehicle tailgate technical field

[0001] The present invention relates to methods and devices for controlling an electric motor of a motorized opening / closing system for a vehicle tailgate. The present invention also relates to a method and device for controlling the closing of a vehicle tailgate. Technological background

[0002] Some modern vehicles are equipped with a motorized tailgate. On these vehicles, the actuator(s) assisting the tailgate opening are equipped with an electric motor that drives the moving rod of each actuator, allowing the tailgate to be opened or closed effortlessly and without manual intervention.

[0003] When the tailgate is in an open position, the motor(s) of the cylinders are short-circuited to increase the value of the mechanical brake of each cylinder, thus ensuring high stability of the tailgate in the open position.

[0004] However, when the vehicle user wishes to manually close the tailgate, which is held open in this way, the user must exert considerable effort to counteract the resistive effects of the short-circuited electric motors, which then act as electricity generators in addition to the inherent mechanical braking of the actuators. The effort is so great that some users are then unable to close the tailgate manually, which is sometimes necessary. Summary of the present invention

[0005] One object of the present invention is to resolve at least one of the drawbacks of the technological background.

[0006] An object of the present invention is to facilitate the manual closing of a motorized vehicle tailgate.

[0007] According to a first aspect, the present invention relates to a method for controlling an electric motor of a motorized opening / closing system for a vehicle tailgate, the electric motor being configured to drive in translation a rod of a cylinder of the motorized opening / closing system, the tailgate being in a raised open position, the electric motor being short-circuited to maintain the tailgate in the raised open position, the method comprising the following steps:

[0008] - reception of at least one signal representative of a set of pulses electrical signals representing a translational movement of the cylinder rod;

[0009] - comparison of a number of pulses included in the pulse set with a threshold value;

[0010] - short-circuit suppression command when the number of pulses reaches the threshold value.

[0011] According to one variant, the threshold value is a function of a total stroke of the cylinder.

[0012] According to another variant, the short-circuiting of the electric motor is achieved by interconnecting two power supply pins of the electric motor, the short-circuit suppression command including the suppression of the interconnection of the two power supply pins of the electric motor.

[0013] According to a further embodiment, a first signal representing a first set of electrical pulses is received from a first rod position sensor and a second signal representing a second set of electrical pulses is received from a second rod position sensor, the electrical pulses of the first set being time-shifted relative to the electrical pulses of the second set of electrical pulses, the time shift between the electrical pulses of the first set and the electrical pulses of the second set being representative of a direction of translation of the rod, the short circuit being eliminated when the direction of translation is representative of a movement of the tailgate from the upper opening position to a lower closing position of the tailgate.

[0014] According to yet another variant, the first and second position sensors each correspond to a Hall effect sensor.

[0015] According to an additional variant, the rod corresponds to a worm screw, each pulse of the set of electrical pulses being representative of a rotation of the worm screw around its longitudinal axis.

[0016] According to a second aspect, the present invention relates to a control device for an electric motor of a motorized opening / closing system of a vehicle tailgate, the device comprising a memory associated with a processor configured for the implementation of the steps of the process according to the first aspect of the present invention.

[0017] According to a third aspect, the present invention relates to a motorized opening / closing control system for a vehicle tailgate, the system comprising the device as described above according to the second aspect of the present invention, at least one cylinder configured to control an opening movement and a closing movement of the tailgate, at least one electric motor configured to drive in translation a rod of at least one cylinder and at least one position sensor of the rod.

[0018] According to a fourth aspect, the present invention relates to a vehicle, for example of the automobile type, comprising a device as described above according to the second aspect of the present invention or a system as described above according to the third aspect of the present invention.

[0019] According to a fifth aspect, the present invention relates to a computer program which includes instructions adapted for carrying out the steps of the process according to the first aspect of the present invention, in particular when the computer program is executed by at least one processor.

[0020] Such a computer program may use any programming language, and be in the form of source code, object code, or an intermediate code between source code and object code, such as in a partially compiled form, or in any other desirable form.

[0021] According to a sixth aspect, the present invention relates to a computer-readable recording medium on which is recorded a computer program comprising instructions for carrying out the steps of the process according to the first aspect of the present invention.

[0022] On the one hand, the recording medium can be any entity or device capable of storing the program. For example, the medium can include a storage means, such as a ROM, a CD-ROM or a microelectronic circuit-type ROM, or a magnetic recording means or a hard disk drive.

[0023] On the other hand, this recording medium can also be a transmissible medium such as an electrical or optical signal, such a signal being able to be transmitted via an electrical or optical cable, by conventional or radio frequency, by self-directing laser beam, or by other means. The computer program according to the present invention can, in particular, be downloaded from an Internet-type network.

[0024] Alternatively, the recording medium may be an integrated circuit in which the computer program is incorporated, the integrated circuit being adapted to execute or to be used in the execution of the process in question. Brief description of the figures

[0025] Other features and advantages of the present invention will become apparent from the description of the particular and non-limiting embodiments of the present invention below, with reference to the attached Figures 1 to 6, in which:

[0026] [Fig-1] schematically illustrates a rear view of a vehicle with the tailgate in an opening position, according to a particular and non-limiting example of the present invention;

[0027] [Fig.2] schematically illustrates three states of a control circuit of an electric motor of a tailgate opening / closing system of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0028] [Fig.3] schematically illustrates two sets of pulses received from sensors of the tailgate opening / closing system of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0029] [Fig.4] schematically illustrates a profile of the forces as a function of the stroke of a cylinder of the tailgate opening / closing system of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0030] [Fig.5] schematically illustrates a device configured to control an electric motor of a motorized opening / closing system of the tailgate of the vehicle of [Fig.1], according to a particular and non-limiting embodiment of the present invention;

[0031] [Fig.6] illustrates a flowchart of the different stages of a method for controlling an electric motor of a motorized opening / closing system of the tailgate of the vehicle of [Fig.1], according to a particular and non-limiting example of the present invention. Description of examples of achievements

[0032] A method and a control device for an electric motor of a motorized opening / closing system of a vehicle tailgate will now be described in what follows with joint reference to Figures 1 to 6. The same elements are identified with the same reference signs throughout the description that follows.

[0033] According to a particular and non-limiting embodiment of the present invention, when the tailgate of a vehicle is held in an open position by one or more electric motors, each controlling a cylinder designed to assist the opening and closing of the tailgate, the transition of the tailgate to a closed position involves the reception, for example by a computer responsible for controlling the motorized opening / closing system of the tailgate, of one or more signals, each comprising a set of electrical pulses. This set of pulses is, for example, received from a sensor associated with the cylinder and configured to measure the translational displacement of the cylinder's moving rod. The number of pulses received is compared to a threshold value. When the number of pulses received reaches this threshold value, the short circuit of the electric motor is removed, thereby reducing the resistance in the cylinders induced by the electric motor.

[0034] Thus, the effort required to close a car trunk tailgate whose opening and closing are motorized is greatly reduced once the threshold value is reached.

[0035] Fig. 1 schematically illustrates a rear view of a vehicle 10, according to a particular and non-limiting embodiment of the present invention.

[0036] The vehicle 10 is shown with the trunk lid 101 in the open position, thus allowing access to the trunk of the vehicle 10. The tailgate 101 is configured to move from a closed position to an open position and vice versa. The closed position of the tailgate 101 closes the trunk and prevents any access to the interior of the trunk. Conversely, the open position provides access to the interior of the trunk.

[0037] Vehicle 10 corresponds, for example, to a vehicle with an internal combustion engine, with electric motor(s), or even a hybrid vehicle with an internal combustion engine and one or more electric motors. Vehicle 10 thus corresponds, for example, to a land vehicle, for example a car, a van, that is to say, any vehicle having a tailgate.

[0038] The vehicle 10 is advantageously equipped with a motorized tailgate opening / closing system 101, i.e. that the opening and closing movements of the tailgate 101 are possible without manual intervention by an operator, when the motorized tailgate opening / closing function of the tailgate 101 is activated.

[0039] Such a function can for example be activated and deactivated via a human-machine interface (HMI) displayed on a screen in the vehicle or on a screen of a mobile communication device (for example a smartphone or tablet) in communication (for example wirelessly, via Bluetooth® or Wifi® for example) with the vehicle's on-board system 10.

[0040] The motorized opening / closing system of the tailgate 101 advantageously comprises one or more cylinders (for example, two cylinders) 102, each cylinder 102 comprising, for example, a motor driving the cylinder's movable rod in translation. The body of each cylinder 102 is, for example, fixedly connected via one of its ends to the vehicle body 10, while the free end of the rod extending from the cylinder body is connected to the tailgate 101. The translational drive of the rod of each cylinder 102 by the associated motor thus allows the tailgate to be closed or opened according to the direction of the rod's translation. When the rod is driven in translation so as to enter or penetrate the body of the cylinder 102, the tailgate 101 moves from an open position to a closed position.When the rod is moved in translation so as to exit the body of the cylinder 102, the tailgate 101 moves from a lower position to a higher position (or from a closed position to an open position).

[0041] The rod corresponds for example to a threaded rod of the worm type, the electric motor of the cylinder including the rod driving the worm in rotation, which generates a translational movement of the rod relative to the body of the cylinder 102.

[0042] The motorized opening / closing system of the tailgate 101 also includes a control circuit that drives, commands, or controls each electric motor of each actuator. For example, the system includes one control circuit per electric motor or one control circuit for both electric motors (one electric motor included in each actuator 102). The control circuit corresponds, for example, to a PWM (Pulse Width Modulation) type circuit to control the speed of the motor and thus control the translational movement of the rod of each actuator 102 during the opening or closing movement of the tailgate 101.

[0043] The motorized opening / closing system of the tailgate 101 also includes an electronic control unit, for example of the ECU (Electronic Control Unit) type, for example called a BCM (Motorized Trunk Control Unit). The ECU and the control circuit of the electric motor(s) are, for example, contained in a single hardware device or form two separate hardware devices connected to each other via a data bus.

[0044] The motorized opening and closing of the tailgate 101 are, for example, controlled by pressing a control button, for example a control button provided in the passenger compartment of the vehicle 10, a control button 103 provided on the tailgate 101 (for example a button provided on the outside of the flap forming the tailgate to control the opening and a button inside the flap or the trunk to control the closing) and / or a control button provided on a keyless entry key of a Keyless Entry and Start (CEES) system of the vehicle 10.

[0045] Optionally, the motorized tailgate opening / closing system 101 also includes an electrically assisted lock to lock the tailgate onto the trunk in the closed position and / or a device configured to prevent pinching when closing the tailgate 101 (for example, a resistive-type sensor provided on the periphery of the tailgate).

[0046] According to a particular example, the height of the tailgate 101 in the high opening position is configurable, for example via a menu of the HMI.

[0047] A process for controlling or commanding the electric motor of a cylinder 102 of the motorized opening / closing system of the tailgate 101 of the vehicle 10 is advantageously implemented by one or more devices embedded in the vehicle 10, for example by a computer of the vehicle's embedded system 10, for example the BCM computer. According to one embodiment, the process is implemented by a system comprising the BCM computer and the control circuit of the electric motor.

[0048] The process below is described using a single cylinder 102 as an example. Of course, the same process applies identically to a motorized opening / closing system comprising several cylinders 102, for example two cylinders as illustrated in [Fig.2].

[0049] In an initial state, the tailgate 101 is in a fully open position, corresponding, for example, to the maximum open position of the tailgate 101 or to an intermediate or partial open position of the tailgate 101. In such a state, the electric motor is short-circuited and no longer powered. For this purpose, and as illustrated in [Fig. 2], the two DC power supply terminals 211, 212 of the electric motor 21 are interconnected and brought to the same potential. This interconnection is advantageously controlled by the control circuit 22 of the electric motor 21, such an interconnection being illustrated by the second state 202 of the motor 21 and control circuit 22 assembly shown in [Fig. 2]. Bringing the terminals to the same potential is controlled electronically by the control circuit 22 or is achieved by the control of a switch by the control circuit.In this operating state, the electric motor 21 is no longer powered. Thus, a force applied by a user to lower the tailgate 101 (along the downward arrow shown in [Fig. 1]) to a lowered or closed position causes the rod of the cylinder 102 to translate so that this rod (connected to the electric motor 22) enters the body of the cylinder 102. The operation of the electric motor 21 causes the rotor of the electric motor 21 to rotate relative to the stator, which generates a magnetic field that resists the penetration of the rod into the body of the cylinder 102. The force required to manually close the tailgate 101 is therefore very high due to the short-circuiting of the motor 21 by the control circuit 22, the electric motor 21 then acting as an electricity generator.

[0050] The first state 202 of the motor assembly 21 and control circuit 22 illustrated in [Fig.2] represents the state of supplying the electric motor with direct current via the control circuit 22, each of the supply pins 211, 212 being directly connected to the control circuit 22.

[0051] In a first operation, the BCM computer receives a first signal from a first position sensor configured to measure the translational displacement of the rod entering the cylinder body. The rod is in an initial position when the user begins to apply force to the tailgate 101 to lower it. In the initial position, the rod has a specific length extending from the cylinder body 102, which depends on the opening height of the tailgate 101 when it is in the initial state corresponding to the fully opened position of the tailgate 101. The first signal comprises a series of pulses, the number of pulses being... in the whole depending on the amplitude of the translational movement imparted to the rod by the user closing the tailgate 101.

[0052] The first sensor corresponds for example to a Hall effect sensor measuring each rotation made by the rod when the latter corresponds to a worm screw, the translational movement imparted to the rod being transformed into a rotational movement around the longitudinal axis of the worm screw.

[0053] According to another example, the sensor corresponds to an optical sensor.

[0054] According to a particular embodiment, a second position sensor is arranged in addition to the first position sensor, the first and second position sensors advantageously each corresponding to a Hall effect sensor. The first and second position sensors are advantageously arranged relative to each other with an angular offset, for example, of 45° or 90°.

[0055] Each position sensor transmits a signal comprising each one of the same number of electrical pulses representative of the number of turns made on itself by the worm screw, the number of electrical pulses thus being representative of the amplitude of the translational movement imparted to the rod of the cylinder 102.

[0056] Figure 3 illustrates such signals transmitted by the first sensor and the second sensor when a translational movement is applied to the rod of the cylinder 102, according to a particular and non-limiting embodiment of the present invention.

[0057] The first signal 31 illustrates a first set of pulses, as a function of time 't', transmitted by the first sensor to the BCM, and the second signal 32 illustrates a second set of pulses transmitted by the second sensor to the BCM. The first and second sets of pulses each comprise the same number of pulses, with a time offset between the first and second sets due to the angular offset between the first and second sensors.

[0058] Such a time lag makes it possible to determine the direction of rotation of the threaded rod and thus the direction of the translational movement applied to the rod, which makes it possible to determine whether the rod comes out of the body of the cylinder or on the contrary enters the body of the cylinder 102. The time lag between the two signals 31 and 32 is then used to determine whether the tailgate 101 undergoes a closing movement (from top to bottom) or on the contrary undergoes an opening movement (from bottom to top), this being useful for example during a system initialization problem with interruption of the closing or opening movement of the tailgate 101.

[0059] For example, if the second signal 32 is ahead of the first signal 31 (as illustrated in [Fig. 3]), the time lag is representative of a closing movement of the tailgate 101. Otherwise, if the second signal 32 is behind the first signal 31, the time shift is representative of an opening movement of the tailgate 101.

[0060] In a second operation, the received pulse set (or sets of received pulses) is compared to a threshold value, that is to say, the number of pulses included in the pulse set is compared to the threshold value.

[0061] Such a threshold value corresponds, for example, to a specific number of pulses stored in the BCM computer's memory. This threshold value is, for example, specific to the type of cylinder 102 installed in the vehicle 10 (and thus, for example, particular to the vehicle type 10). For example, the threshold value depends on the total stroke of the cylinder. For example, the greater the total stroke of the cylinder (and the greater the number of pulses received by the BCM computer when the amplitude of the rod's translational movement corresponds to the total stroke of the cylinder 102), the higher the threshold value.

[0062] By way of example, for a Peugeot® 3008 type vehicle, the number of pulses corresponding to the stroke of the cylinders 102 equipping such a vehicle is equal to 1780 pulses, and the threshold value is, for example, equal to 40 pulses. For a Peugeot® 5008 type vehicle, the number of pulses corresponding to the stroke of the cylinders 102 equipping such a vehicle is equal to 1950 pulses, and the threshold value is, for example, equal to 50 pulses.

[0063] In a third operation, the BCM computer generates and transmits a command to the control circuit 22 to remove the short circuit of the motor 22, as illustrated in [Fig.2] by the third state 203 of the motor 21 and control circuit 22 assembly.

[0064] In such a state 203, the power supply terminals 211 and 212 are no longer interconnected and are no longer at the same potential. Thus, the electrical energy generated by the motor 21 when a translational movement is applied to the rod of the cylinder 102 by the downward movement of the tailgate 101 can dissipate in the control circuit, which includes, for example, a ground (terminal connected to earth).

[0065] When the short circuit is removed, the resistance of the actuator 102 is reduced to its intrinsic mechanical resistance (due to the presence of a spring or fluid), which allows the tailgate 101 to be closed with a much smaller force than the force required when the motor 21 is short-circuited (second state 202 of [Fig. 2]). The reduction in the required force is, for example, equal to 25 or 30% compared to the upper value 'El'.

[0066] Fig. 4 schematically illustrates the profile 41 of the force 'E' in Newtons (N) associated with the closing of the tailgate 101 as a function of the displacement 'D' of the rod, expressed in mm for example.

[0067] Thus, as illustrated in [Fig.4], at the beginning of the closing movement, the effort required increases rapidly as a function of the displacement until reaching a high (or maximum) value 'El', the abscissa corresponding to this maximum 'El' corresponding to the number of pulses equal to the threshold value.

[0068] When this threshold value is reached, the required force decreases sharply until it reaches a low value 'E2'. The variation of the force as a function of the displacement following this low value is then due to the intrinsic resistance of the cylinder 102. The reduction in the required force is, for example, equal to 25 or 30% compared to the high value 'El'.

[0069] Figure 5 schematically illustrates a device 5 configured to control an electric motor of a motorized opening / closing system for a vehicle tailgate, for example, the tailgate 101 of the vehicle 10, according to a particular and non-limiting embodiment of the present invention. The device 5 corresponds, for example, to a device embedded in the vehicle 10, for example, a computer.

[0070] The device 5 is, for example, configured to carry out the operations described opposite Figures 1 to 4 and / or the steps of the process described opposite [Fig. 6]. Examples of such a device 5 include, but are not limited to, embedded electronic equipment such as a vehicle's on-board computer, an electronic control unit such as an ECU (Electronic Control Unit), a smartphone, a tablet, or a laptop computer. The elements of the device 5, individually or in combination, can be integrated into a single integrated circuit, into several integrated circuits, and / or into discrete components. The device 5 can be implemented in the form of electronic circuits or software (or computer) modules, or a combination of electronic circuits and software modules.

[0071] The device 5 comprises one (or more) processor(s) 50 configured to execute instructions for carrying out the steps of the process and / or for executing instructions from the software embedded in the device 5. The processor 50 may include integrated memory, an input / output interface, and various circuits known to those skilled in the art. The device 5 further comprises at least one memory 51, for example, volatile and / or non-volatile memory, and / or includes a memory storage device that may include volatile and / or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic disk, or optical disk.

[0072] The computer code of the embedded software(s) including the instructions to be loaded and executed by the processor is for example stored on memory 51.

[0073] According to various specific and non-limiting embodiments, the device 5 is coupled in communication with other similar devices or systems and / or with communication devices, for example a TCU (Telematic Control Unit), for example via a communication bus or through dedicated input / output ports.

[0074] According to a particular and non-limiting embodiment, the device 5 includes a communication interface 52 which allows communication to be established with other devices (such as other computers in the embedded system) via a communication channel 520. The communication interface 52 corresponds, for example, to a transmitter configured to transmit and receive information and / or data via the communication channel 520. The communication interface 52 corresponds, for example, to a wired network of the CAN (Controller Area Network) type, CAN FD (Controller Area Network Flexible Data-Rate), FlexRay (standardized by ISO 17458) or Ethernet (standardized by ISO / IEC 802-3).

[0075] According to a particular, non-limiting embodiment, the device 5 can provide output signals to one or more external devices, such as a display screen, touchscreen or not, one or more speakers, and / or other peripherals via respective output interfaces. In one variant, one or more of the external devices is integrated into the device 5.

[0076] [Fig. 6] illustrates a flowchart of the different steps of a method for controlling an electric motor of a motorized opening / closing system for a vehicle tailgate, for example the tailgate 101 of the vehicle 10, according to a particular and non-limiting embodiment of the present invention. The method is implemented, for example, by a device embedded in the vehicle 10 or by the device 5 of [Fig. 5].

[0077] In a first step 61, at least one signal representing a set of electrical pulses representing a translational movement of a rod of a cylinder of the motorized opening / closing system is received. This signal advantageously represents the displacement of the cylinder rod under the action of manually closing the tailgate from a high open position of the tailgate, the electric motor responsible for driving the rod in translation being short-circuited to hold the tailgate in the open position.

[0078] In a second step 62, a number of pulses included in the pulse set is compared with a threshold value.

[0079] In a third step 63, a short-circuit suppression command is generated and / or transmitted when the number of pulses reaches the threshold value.

[0080] According to one variant, the variants and examples of the operations described in relation to Figures 1 to 4 apply to the steps of the process in [Fig.6].

[0081] Of course, the present invention is not limited to the embodiments described above but extends to a method for controlling a motorized cylinder of a vehicle tailgate opening / closing system, which would include secondary steps without departing from the scope of the present invention. The same would apply to a device configured for implementing such a method.

[0082] The present invention also relates to a vehicle, for example an automobile or more generally an autonomous land-based motor vehicle, comprising the device 5 of [Fig.6] or the motorized opening / closing system of the tailgate 101 described opposite [Fig.1].

Claims

1.

2.

3. Claims Method for controlling an electric motor (21) of a motorized opening / closing system of a tailgate (101) of a vehicle (10), said electric motor (21) being configured to drive in translation a rod of a cylinder (102) of said motorized opening / closing system, said tailgate (101) being in a high opening position, said electric motor (21) being short-circuited to maintain said tailgate (101) in said high opening position, said method comprising the following steps: - reception (61) of at least one signal (31, 32) representative of a set of electrical pulses representative of a translational movement of said rod of said cylinder (102); - comparison (62) of a number of pulses included in said set of pulses with a threshold value; - command (63) for removing said short circuit when said number of pulses reaches said threshold value, for which a first signal (31) representative of a first set of electrical pulses is received from a first position sensor of said rod and a second signal (32) representative of a second set of electrical pulses is received from a second position sensor of said rod, said first set of electrical pulses comprising the same number of electrical pulses as said second set of electrical pulses, the electrical pulses of said first set being time-shifted relative to the electrical pulses of said second set of electrical pulses, the time shift between the electrical pulses of the first set and the electrical pulses of the second set being representative of a direction of translation of said rod,said short circuit being eliminated when the direction of translation is representative of a movement of said tailgate (101) from said high opening position to a low closing position of said tailgate (101).., The method of claim 1, wherein said threshold value is a function of a total stroke of said cylinder (102). Method according to claim 1 or 2, wherein the short-circuiting of said electric motor (21) is obtained by interconnecting two power supply pins (211, 212) of said electric motor (21), said command for removing said short circuit comprising removing said interconnection of the two power supply pins (211, 212) of the electric motor (21).

4. A method according to claim 1 or 2, wherein said first and second position sensors each correspond to a Hall effect sensor.

5. Method according to one of claims 1 to 4, for which said rod corresponds to a worm screw, each pulse of said set of electrical pulses being representative of a rotation of said worm screw around its longitudinal axis.

6. Computer program comprising instructions for implementing the method according to any one of the preceding claims, when these instructions are executed by a processor.

7. Device (5) for controlling an electric motor of a motorized opening / closing system of a tailgate of a vehicle, said device (5) comprising a memory (51) associated with at least one processor (50) configured for implementing the steps of the method according to any one of claims 1 to 5.

8. Motorized opening / closing control system for a tailgate (101) of a vehicle (10), said system comprising the device according to claim 7, at least one cylinder (102) configured to control an opening movement and a closing movement of said tailgate (101), at least one electric motor (21) configured to drive in translation a rod of said at least one cylinder (102) and at least one position sensor of said rod.

9. Vehicle (10) comprising the device (5) according to claim 7 or the system according to claim 8.