A method generates a setpoint for controlling a steering system and a differential braking system of a motor vehicle. The method includes: acquiring a value relating to a total yawing moment to be applied to the motor vehicle such that it follows a required path, and the speed of the motor vehicle, calculating, as a function of the speed, at least one threshold relating to the maximum proportion of the total yawing moment that the steering system or that the differential braking system can provide, determining, as a function of the threshold, a distribution rate relating to the proportion of the total yawing moment that the steering system or that the differential braking system must provide, and generating a setpoint for controlling the steering system and the differential braking system as a function of the distribution rate and of the value relating to the total yawing moment.