A method of determining the velocity (.nu.) of a vehicle is provided. The
vehicle has at least one pair of a front and a rear wheel which are
spaced by a wheel spacing (B). Front and rear wheel speed signals
(.omega.) are determined which are indicative of the time dependent
behavior of the front and rear wheel speeds, respectively. The front and
rear wheel speed signals (.omega.) are correlated in order to determine a
specific correlation feature indicative of the time delay (.tau.) between
the front wheel and rear wheel speed signals. The velocity (.nu.) of the
vehicle is determined based on the correlation feature and the wheel
spacing (B).