Control device capable of controlling an angle of locking of an autonomous motor vehicle, the vehicle having at least one steered wheel, the control device comprising: - a primary controller, which is configured to determine a locking setpoint; - a primary actuator, which is configured to impart an angle of locking to the steered wheel of the vehicle on the basis of the locking setpoint when said primary actuator receives said locking setpoint, the primary actuator comprising an internal sensor configured to transmit, to the primary controller, an internal measurement signal corresponding to a measurement of the angle of locking imparted by the primary actuator; - an external sensor configured to transmit, to the primary controller, an external measurement signal corresponding to a measurement of the angle of locking of the steered wheel; - an auxiliary actuator, which is configured to impart an angle of locking to the steered wheel of the vehicle when said auxiliary actuator receives said locking setpoint; characterized in that: the primary controller is configured to determine a first value corresponding to the difference between the locking setpoint and the internal measurement signal, and is configured to determine a second value corresponding to the difference between the internal measurement signal and the external measurement signal, the primary controller is configured to transmit the locking setpoint to the auxiliary actuator when the first value is greater than a first error threshold and/or when the second value is greater than a second error threshold, the primary controller is configured to transmit the locking setpoint to the auxiliary actuator when the internal measurement signal and/or the external measurement signal corresponds to a measurement of the angle of locking that is greater than a maximum locking threshold (SBmax), the maximum locking threshold (SBmax) depending on the instantaneous speed of the vehicle. - a primary controller, which is configured to determine a locking setpoint; - a primary actuator, which is configured to impart an angle of locking to the steered wheel of the vehicle on the basis of the locking setpoint when said primary actuator receives said locking setpoint, the primary actuator comprising an internal sensor configured to transmit, to the primary controller, an internal measurement signal corresponding to a measurement of the angle of locking imparted by the primary actuator; - an external sensor configured to transmit, to the primary controller, an external measurement signal corresponding to a measurement of the angle of locking of the steered wheel; - an auxiliary actuator, which is configured to impart an angle of locking to the steered wheel of the vehicle when said auxiliary actuator receives said locking setpoint; characterized in that: the primary controller is configured to determine a first value corresponding to the difference between the locking setpoint and the internal measurement signal, and is configured to determine a second value corresponding to the difference between the internal measurement signal and the external measurement signal, the primary controller is configured to transmit the locking setpoint to the auxiliary actuator when the first value is greater than a first error threshold and/or when the second value is greater than a second error threshold, the primary controller is configured to transmit the locking setpoint to the auxiliary actuator when the internal measurement signal and/or the external measurement signal corresponds to a measurement of the angle of locking that is greater than a maximum locking threshold (SBmax), the maximum locking threshold (SBmax) depending on the instantaneous speed of the vehicle. the primary controller is configured to determine a first value corresponding to the difference between the locking setpoint and the internal measurement signal, and is configured to determine a second value corresponding to the difference between the internal measurement signal and the external measurement signal, the primary controller is configured to transmit the locking setpoint to the auxiliary actuator when the first value is greater than a first error threshold and/or when the second value is greater than a second error threshold, the primary controller is configured to transmit the locking setpoint to the auxiliary actuator when the internal measurement signal and/or the external measurement signal corresponds to a measurement of the angle of locking that is greater than a maximum locking threshold (SBmax), the maximum locking threshold (SBmax) depending on the instantaneous speed of the vehicle.