Method for generating a supervision setpoint for controlling at least one driving unit of a motor vehicle equipped with a plurality of sensors (11, 12, 13, 14), comprising: - a first step of fusing signals received from at least a first group of sensors (11, 12, 13, 14), with a view to determining at least a first datum relating to the environment around the motor vehicle, - a second step of fusing signals received from at least a second group of sensors (11, 12, 13, 14), with a view to determining at least a second datum relating to the environment around the motor vehicle, - a step of computing a first preliminary supervision setpoint depending on each first datum, further comprising: - a step of comparing the first and second data with a view to establishing a first diagnosis (Diag1), - a step of testing the first preliminary supervision setpoint, taking into account at least one of the first and second data, with a view to establishing a second diagnosis (Diag2), and - a step of determining the supervision setpoint depending on the first and second diagnoses (Diag1, Diag2), wherein: - the fusing and computing steps are implemented by a main computer with which the motor vehicle is equipped, - provision is made for another step, implemented by an auxiliary computer with which the motor vehicle is equipped, of computing a second preliminary supervision setpoint for each driving unit, taking into account signals sent by at least a third group of sensors (11, 12, 13, 14), and - in the determining step, the supervision setpoint is set equal to the second preliminary supervision setpoint if the first diagnosis (Diag1) indicates a mismatch between the results of the two fusing steps and/or if the second diagnosis (Diag2) indicates a mismatch between the first preliminary supervision setpoint and the results of at least one of the two fusing steps. - a first step of fusing signals received from at least a first group of sensors (11, 12, 13, 14), with a view to determining at least a first datum relating to the environment around the motor vehicle, - a second step of fusing signals received from at least a second group of sensors (11, 12, 13, 14), with a view to determining at least a second datum relating to the environment around the motor vehicle, - a step of computing a first preliminary supervision setpoint depending on each first datum, further comprising: - a step of comparing the first and second data with a view to establishing a first diagnosis (Diag1), - a step of testing the first preliminary supervision setpoint, taking into account at least one of the first and second data, with a view to establishing a second diagnosis (Diag2), and - a step of determining the supervision setpoint depending on the first and second diagnoses (Diag1, Diag2), wherein: - the fusing and computing steps are implemented by a main computer with which the motor vehicle is equipped, - provision is made for another step, implemented by an auxiliary computer with which the motor vehicle is equipped, of computing a second preliminary supervision setpoint for each driving unit, taking into account signals sent by at least a third group of sensors (11, 12, 13, 14), and - in the determining step, the supervision setpoint is set equal to the second preliminary supervision setpoint if the first diagnosis (Diag1) indicates a mismatch between the results of the two fusing steps and/or if the second diagnosis (Diag2) indicates a mismatch between the first preliminary supervision setpoint and the results of at least one of the two fusing steps. - a step of comparing the first and second data with a view to establishing a first diagnosis (Diag1), - a step of testing the first preliminary supervision setpoint, taking into account at least one of the first and second data, with a view to establishing a second diagnosis (Diag2), and - a step of determining the supervision setpoint depending on the first and second diagnoses (Diag1, Diag2), wherein: - the fusing and computing steps are implemented by a main computer with which the motor vehicle is equipped, - provision is made for another step, implemented by an auxiliary computer with which the motor vehicle is equipped, of computing a second preliminary supervision setpoint for each driving unit, taking into account signals sent by at least a third group of sensors (11, 12, 13, 14), and - in the determining step, the supervision setpoint is set equal to the second preliminary supervision setpoint if the first diagnosis (Diag1) indicates a mismatch between the results of the two fusing steps and/or if the second diagnosis (Diag2) indicates a mismatch between the first preliminary supervision setpoint and the results of at least one of the two fusing steps. - the fusing and computing steps are implemented by a main computer with which the motor vehicle is equipped, - provision is made for another step, implemented by an auxiliary computer with which the motor vehicle is equipped, of computing a second preliminary supervision setpoint for each driving unit, taking into account signals sent by at least a third group of sensors (11, 12, 13, 14), and - in the determining step, the supervision setpoint is set equal to the second preliminary supervision setpoint if the first diagnosis (Diag1) indicates a mismatch between the results of the two fusing steps and/or if the second diagnosis (Diag2) indicates a mismatch between the first preliminary supervision setpoint and the results of at least one of the two fusing steps.