Method for controlling a motor vehicle which is equipped with wheels, brakes (60, 70), a means for recovering the energy generated in braking, and a torque transmission chain from the wheels to the recovery means, comprising steps: a) of acquiring a braking instruction (Cs), b) of measuring a measured value (Ω m) of a dynamic characteristic of the recovery means, c) of calculating a first intermediate setpoint (Cp) by means of a preventive filter which filters said braking instruction (Cs) so as to attenuate its amplitude around the resonance frequency of the torque transmission chain, d) of calculating a second intermediate setpoint (Cc), created to damp the oscillations of the torque transmission chain by means of a curative filter which filters the measured value (Ω m) of said dynamic characteristic, e) of controlling said recovery means according to a control setpoint (Cm) calculated as a function of said first and second intermediate setpoints (Cp, Cc), and f) of controlling the brakes (60, 70) according to a braking setpoint (Cf) calculated as a function of the braking instruction (Cs) acquired in the step a), characterized in that, - in the step c), the preventive filter is a low-pass filter whose cutoff beat (1/T) is chosen as a function of the main resonance frequency of the torque transmission chain, - in the step d) - a forecast value (Ω ρ) of said dynamic characteristic is estimated using a forecast mathematical model, to thus make it possible to prevent any start of oscillation even before these oscillations are detected by the control unit, so that the control unit can instantaneously counter these oscillations, - a subtractor is used to calculate the difference in speeds (ΔΩ) between the measured value (Ω m) and the forecast value (Ω ρ) of the dynamic characteristic, - this difference in speeds (ΔΩ) is filtered by means of a high-frequency filter, as a second order low-pass filter, in order to reduce the noise in order to prevent this noise from then being amplified, - a summer is used to calculate the sum (ΣΩ) between, on the one hand, said filtered difference (ΔΩ), and, on the other hand, the forecast value (Ω ρ) of the engine speed, - this sum (ΣΩ) is filtered using a curative filter, and the second intermediate setpoint (Cc) is calculated as a function of this filtered sum (ΣΩ). a) of acquiring a braking instruction (Cs), b) of measuring a measured value (Ω m) of a dynamic characteristic of the recovery means, c) of calculating a first intermediate setpoint (Cp) by means of a preventive filter which filters said braking instruction (Cs) so as to attenuate its amplitude around the resonance frequency of the torque transmission chain, d) of calculating a second intermediate setpoint (Cc), created to damp the oscillations of the torque transmission chain by means of a curative filter which filters the measured value (Ω m) of said dynamic characteristic, e) of controlling said recovery means according to a control setpoint (Cm) calculated as a function of said first and second intermediate setpoints (Cp, Cc), and f) of controlling the brakes (60, 70) according to a braking setpoint (Cf) calculated as a function of the braking instruction (Cs) acquired in the step a), - in the step c), the preventive filter is a low-pass filter whose cutoff beat (1/T) is chosen as a function of the main resonance frequency of the torque transmission chain, - in the step d) - a forecast value (Ω ρ) of said dynamic characteristic is estimated using a forecast mathematical model, to thus make it possible to prevent any start of oscillation even before these oscillations are detected by the control unit, so that the control unit can instantaneously counter these oscillations, - a subtractor is used to calculate the difference in speeds (ΔΩ) between the measured value (Ω m) and the forecast value (Ω ρ) of the dynamic characteristic, - this difference in speeds (ΔΩ) is filtered by means of a high-frequency filter, as a second order low-pass filter, in order to reduce the noise in order to prevent this noise from then being amplified, - a summer is used to calculate the sum (ΣΩ) between, on the one hand, said filtered difference (ΔΩ), and, on the other hand, the forecast value (Ω ρ) of the engine speed, - this sum (ΣΩ) is filtered using a curative filter, and - a forecast value (Ω ρ) of said dynamic characteristic is estimated using a forecast mathematical model, to thus make it possible to prevent any start of oscillation even before these oscillations are detected by the control unit, so that the control unit can instantaneously counter these oscillations, - a subtractor is used to calculate the difference in speeds (ΔΩ) between the measured value (Ω m) and the forecast value (Ω ρ) of the dynamic characteristic, - this difference in speeds (ΔΩ) is filtered by means of a high-frequency filter, as a second order low-pass filter, in order to reduce the noise in order to prevent this noise from then being amplified, - a summer is used to calculate the sum (ΣΩ) between, on the one hand, said filtered difference (ΔΩ), and, on the other hand, the forecast value (Ω ρ) of the engine speed, - this sum (ΣΩ) is filtered using a curative filter, and