the activation of braking by the driver of the vehicle and the activation of the braking assistance system moreover the esp computer 4 comprises an msc module 7 making it possible to produce an algorithm for computing the intermediate turning setpoint 2 in order to compensate for the yaw torque during braking on dissymmetrical adhesion this msc module 7 for its part generates an item of information of cyclical type according to a clock varying from 0 to 15 and incremented every ten milliseconds when the esp computer 4 sends an intermediate turning setpoint 2 the msc module 7 also generates an item of binary information 15 equal to 0 when the esp computer 4 sends no intermediate turning setpoint 2 and equal to 1 in the converse situation as shown in fig2 to allow the computation of the intermediate turning setpoint 2 the internal variable 24 must be pulled up that is to say switch from 0 to 1 at the moment t this event occurs when all the following conditions are verified the signal 10 representative of the actuation of the braking member must be equal to the value 2 which corresponds to a pressure in the master cylinder that is greater than 6 bar the signal 9 which corresponds to the regulation of braking assistance systems must be equal to 1 which corresponds to an abs regulation being used the signal 5 representative of the communication between the 4rd computer 14 and the esp computer 4 must.