Method for determining the linear speed of a vehicl from vertical movements of the wheels, and vehicle equipped with such sensor

The method involves measuring quantities characterizing vertical behavior of a front wheel (21) and a rear wheel (23), respectively. Time lag (T) of the quantity measured for the rear wheel with respect to the quantity measured for the front wheel is estimated. Longitudinal velocity of a vehicle is estimated according to the estimated time lag and wheel base of the vehicle. An independent claim is also included for a motor vehicle comprising a device for measuring longitudinal velocity.