A device delivers a torque setpoint signal applicable to the vehicle wheels of a motor vehicle including an automatic transmission. The torque setpoint signal has static and dynamic components that are set according to input data supplied by an input unit and based on a recorded list of parameters representing the driver's will, the motor vehicle state, and the environment thereof. The device includes a first unit for computing the dynamic component of a gross torque, a second unit for computing the static component of a gross torque, the second unit being connected to the output of the first unit, and a unit for adaptation to a brake situation producing the static component of the torque adapted to the braking situation according to the list of parameters.