This vehicle comprises a vehicle frame (4), front wheels (6), rear wheels (8), front drive means (10) for driving the front wheels with a front nominal speed, rear drive means (12) for driving the rear wheels with a rear nominal speed, and control means (14) adapted and configured for selectively controlling the front drive means and the rear drive. The control means are adapted and configured for controlling the drive means so that either the front nominal speed (V FR , V FL ) is different from the rear nominal speed (V RR , V RL ), or so that the front nominal speed is equal to the rear nominal speed, the difference between the front nominal speed and the rear nominal speed being defined as "lead". Application to agricultural vehicles
