1. A method of braking a motor vehicle including an electric or hybrid propulsion system, a hydraulic braking system, an electric braking system allowing recovery of electrical energy, a brake pedal, vehicle driver assistance systems, an electronic vehicle stability control system, and an emergency braking system, the method comprising: determining a pedal torque setpoint elating to a position of or a force exerted on the brake pedal; determining a torque setpoint from a plurality of torque setpoints generated by the driver assistance systems, the driver assistance systems including an adaptive speed controller that generates one of the plurality of torque setpoints; selecting one torque setpoint from between the pedal torque setpoint relating to a position of or a force exerted on the brake pedal and the torque setpoint relating to the driver assistance systems; formulating a hydraulic braking torque setpoint, independent of a state of the pedal, by the electric or hybrid propulsion system; acquiring data elating to stability of the vehicle from the electronic vehicle stability control system; formulating a hydraulic braking torque setpoint and an electric braking torque setpoint configured for the electric or hybrid propulsion system, on the basis of the selected torque setpoint, the independent hydraulic braking torque setpoint, and the data relating to the stability of the vehicle, wherein the driver assistance systems are separate from the electronic vehicle stability control system and the emergency braking system.