Vehicle with improved motricity control

A vehicle comprising a front axle, a rear driving axle, a left front hydraulic motor connected to a left front wheel, a right front hydraulic motor connected to a right front wheel, a left rear hydraulic motor connected to a left rear wheel, and a right rear hydraulic motor connected to a right rear wheel;

• a hydraulic circuit that hydraulically connects all hydraulic motors, wherein the front and rear hydraulic motors are configured to be in a free-wheel mode under normal motricity conditions;
• a controller that causes, when the rotating speed of at least one of the rear wheels increases with respect to the rotating speed of all other wheels:
• at least the rear hydraulic motor connected to the rear wheel whose rotating speed increased and at least the corresponding front hydraulic motor connected to the front wheel on the same left or right side of the rear wheel whose rotating speed increased to leave the free-wheel mode;
• the at least rear hydraulic motor, which left the free-wheel mode, to increase pressure in the hydraulic circuit, the increased pressure being transmitted to at least the corresponding front hydraulic motor thereby causing it to generate torque applied to the front wheel connected therewith.