A method for controlling a hydrostatic transmission of a motor vehicle with a drive axle driven by the hydrostatic transmission, the method comprising the steps of a. detecting an input command emitted by a driver operable clutch pedal of the motor vehicle, b. determining a limit drive torque transmissible to the drive axle as a function of the detected input command through a predetermined mapping, c. acquiring a first quantity indicative of an actual torque acting on the drive axle, d. computing a desirable speed value for the motor vehicle as a function of a relationship between the limit drive torque and the actual torque indicated by the acquired first quantity, e. determining a target speed for the motor vehicle based on the computed desirable speed value, and f. setting the target speed as a set-point for controlling the hydrostatic transmission; the method being characterized in that the step d. comprises the steps of k. computing an acceleration value based on a ratio of a difference between the limit drive torque and a modulus of the indicated actual torque to a second quantity representing a mass of the motor vehicle, l. computing the desirable speed value based on the computed acceleration value and the step k. further comprises the step of m. computing the difference as the limit drive torque minus the modulus of the indicated actual torque, when the first quantity is indicative that the actual torque is directed to oppose to the movement of the motor vehicle, and/or n. computing the difference as the modulus of the indicated actual torque minus the limit drive torque, when the first quantity is indicative that the actual torque is directed to favor the movement of the motor vehicle. a. detecting an input command emitted by a driver operable clutch pedal of the motor vehicle, b. determining a limit drive torque transmissible to the drive axle as a function of the detected input command through a predetermined mapping, c. acquiring a first quantity indicative of an actual torque acting on the drive axle, d. computing a desirable speed value for the motor vehicle as a function of a relationship between the limit drive torque and the actual torque indicated by the acquired first quantity, e. determining a target speed for the motor vehicle based on the computed desirable speed value, and f. setting the target speed as a set-point for controlling the hydrostatic transmission; the method being characterized in that the step d. comprises the steps of k. computing an acceleration value based on a ratio of a difference between the limit drive torque and a modulus of the indicated actual torque to a second quantity representing a mass of the motor vehicle, l. computing the desirable speed value based on the computed acceleration value and the step k. further comprises the step of m. computing the difference as the limit drive torque minus the modulus of the indicated actual torque, when the first quantity is indicative that the actual torque is directed to oppose to the movement of the motor vehicle, and/or n. computing the difference as the modulus of the indicated actual torque minus the limit drive torque, when the first quantity is indicative that the actual torque is directed to favor the movement of the motor vehicle.