Terrestrial vehicle with internal combustion engine and auxiliary devices

Vehicle comprising an internal combustion engine (MCI) provided with a power takeoff (PTO), means for accumulating electric energy (BAT), a first electric motor-generator (MG1) having a shaft connected, by means to a first controllable joint (J1), to the power takeoff (PTO), and by means of further connection means (J2, MG2, J3) to auxiliary on-board devices, control means (CPU) of the first controllable joint (J1), of the electric motor-generator (MG1) and of the connection means (J2, MG2, J3).