Abstract: The present invention relates to a method for estimating a speed (v) of movement of a wheeled vehicle, wherein a frequency trajectory (?t) representative of the speed (v) of a wheel (RO) of the vehicle (VE) in a filtered spectrogram (S(ft, t)) is estimated (E5) as follows: a probability (pZt|?t) of observation of the trajectory (ft) is estimated (E51) on the basis of a computed amplitude of the filtered spectrogram (S(ft, t)), an a posteriori observation law (pZt|?t) proportional to the product of the probability (p?) and of the probability (p?|Z)? is estimated (E52), the trajectory (ft) is estimated (E53) on the basis of the law (p?|Z), and the speed (v) of movement of the wheel of the vehicle is estimated (E6) on the basis of the trajectory (?t).