Abstract:
The invention relates to a method for controlling the coupling, by coupling means (MC) of a vehicle (V), of a first shaft (A1) driven by a machine (ME) to a second shaft (A2) driving wheels. Said method comprises a first step of operating the machine (ME) so as to drive the first shaft (A1) at a set operating speed, followed by controlling the coupling means (MC) so that they start the coupling with the second shaft (A2); and a second step, if the coupling between the first (A1) and second (A2) shafts could not be established, of causing the machine (ME) to output a torque equal to the sum of a set torque and an additional torque which varies in a decreasing and increasing monotone manner from a selected positive or negative value, until the coupling resumes, and then maintaining said output torque substantially constant until the end of coupling.