A mixed steering method for electric vehicle propulsion

The invention relates to a method of controlling control joint direction, superposing a steering control by shifting (7) obtained by applying a different speed set point Vc to the wheels (3) on one side of the vehicle (1) and the wheels (3) on the other side to a conventional steering control steering of the steered wheels (4), comprising the following steps: - determination of the input variables, - determining the velocity command Vc, - calculating a torque setpoint CC by a servo on the speed Vc of instructions, - determination of the common mode torque set-point Cmc, - calculation of the final torque set Cf applicable to each motor (5) wheel (3). application to vehicles using such a method of controlling control mixed steering.