The invention provides a braking control method for a vehicle having a plurality of wheels fitted with tires and with brakes, the control method including generating a braking setpoint for each wheel in response to a braking order, and comprising the following steps for each wheel: regularly updating a grip model Ca/C0=fq1, . . . qn (τ) representative of a relationship between a coefficient of friction and a wheel slip rate; using the regularly rest grip model and its characteristic shape to establish in a given prediction horizon, the variation for the braking setpoint that, while complying with the braking order and predictable variation therein during the prediction horizon, also complies with a given calculation constraint; and retaining as the value for the braking setpoint a value of the variation as determined in this way that corresponds to a first calculation cycle in the prediction horizon.