Vehicle equipped with an electric motor (M), an estimator (VE) of the velocity (V) of the vehicle , an estimator (TmE) of the mechanical torque (Tm) of the motor (M), a means for commanding (Cm*) the electric motor, pedals for the contribution of power (Pu) by a user (U), an estimator (PuE) of the power (Pu) generated by the user (U) and at least one means for additional torque (Ta) application in addition to a user torque (Tu) corresponding to the power (Pu) generated by the user (U), wherein the vehicle further comprises a stimulus generator (SG) whose inputs comprise the user's power (Pu) and the velocity (V) measured by the estimator (VE) of the velocity (V) and whose outputs comprise a forced velocity control stimulus (VFS) that results in the velocity command (V*) of the electric motor (M) wherein the stimulus generator (SG) is configured to operate according to the following procedure: a) Define a stationary torque (Tst) of the user (U) by subtracting from the user's torque (Tu) the torque (Tac) corresponding to an acceleration (a) of the vehicle , wherein the torque (Tac) corresponding to an acceleration (a) of the vehicle is estimated by using a dynamic model (DM), the dynamic model (DM) relating torque (Tac) with acceleration (a) of the vehicle by considering a mass (m) of the user and vehicle, characterized in that the stimulus generator (SG) is configured to operate according to the further following procedure: b) Obtain the natural velocity (Vn) by means of a pedaling model (PM) that corresponds to the stationary torque to be performed by the user (U) at each velocity (Tst = f(v)) to travel on terrain with a slope close to 0 %, without wind and with good pavement, without assistance (Tm=0) of the motor (M), c) Define a velocity control stimulus (VS) corresponding to the natural velocity (Vn) minus the velocity (V) of the vehicle , wherein the velocity control stimulus (VS) corresponds to the variation of the velocity (V) of the vehicle to be commanded, and the forced velocity control stimulus (VFS) is obtained by adding the velocity (V) of the vehicle to the velocity control stimulus (VS). a) Define a stationary torque (Tst) of the user (U) by subtracting from the user's torque (Tu) the torque (Tac) corresponding to an acceleration (a) of the vehicle , wherein the torque (Tac) corresponding to an acceleration (a) of the vehicle is estimated by using a dynamic model (DM), the dynamic model (DM) relating torque (Tac) with acceleration (a) of the vehicle by considering a mass (m) of the user and vehicle, characterized in that the stimulus generator (SG) is configured to operate according to the further following procedure: b) Obtain the natural velocity (Vn) by means of a pedaling model (PM) that corresponds to the stationary torque to be performed by the user (U) at each velocity (Tst = f(v)) to travel on terrain with a slope close to 0 %, without wind and with good pavement, without assistance (Tm=0) of the motor (M), c) Define a velocity control stimulus (VS) corresponding to the natural velocity (Vn) minus the velocity (V) of the vehicle , wherein the velocity control stimulus (VS) corresponds to the variation of the velocity (V) of the vehicle to be commanded, and the forced velocity control stimulus (VFS) is obtained by adding the velocity (V) of the vehicle to the velocity control stimulus (VS). <EOS>