Vehicle control system comprising a determination of the instantaneous ground speed of a vehicle having at least two wheels, each equipped with a sensor designed to supply a measurement that is a function of the movement of said wheel, comprising: a) a module suitable for supplying at each instant an indication that is a function of the circumferential speed of each of these wheels from the corresponding sensor, b) an acceleration sensor on board the vehicle suitable for supplying a measurement that is a function of at least one longitudinal acceleration component of the vehicle, and c) a vehicle speed indicator suitable for producing overall speed estimations of the vehicle relative to the ground as a function of indications deriving from the module a) for at least one wheel, characterized in that the vehicle speed indicator comprises: d) a diagnostic stage (303 to 309) suitable for testing at least one condition of the corresponding wheel at a considered instant as a function of the speed indications deriving from the module a) to reject said speed indication if the test is not satisfied, e) a test stage suitable for determining if there is at least one wheel for which said speed indication has not been rejected, f) a first module for supplying, in the event of an affirmative response to the test e), a determination of the vehicle speed from the non-rejected indications, g) an estimator that is operative in case of a negative response to the test e) for supplying an estimation of the acceleration of the movement of the vehicle (γ mvt) relative to the ground, as a function of the measurement from the acceleration sensor b) and of at least one angular acceleration measurement obtained from at least one of said wheel sensors, to take account of the slope of the vehicle rolling ground, and h) a second module for the integration of a function of the movement acceleration produced by the estimator g), from a determination of the vehicle speed at a preceding instant, to determine the vehicle speed relative to the ground in the event of a negative response to the test e). a) a module suitable for supplying at each instant an indication that is a function of the circumferential speed of each of these wheels from the corresponding sensor, b) an acceleration sensor on board the vehicle suitable for supplying a measurement that is a function of at least one longitudinal acceleration component of the vehicle, and c) a vehicle speed indicator suitable for producing overall speed estimations of the vehicle relative to the ground as a function of indications deriving from the module a) for at least one wheel, d) a diagnostic stage (303 to 309) suitable for testing at least one condition of the corresponding wheel at a considered instant as a function of the speed indications deriving from the module a) to reject said speed indication if the test is not satisfied, e) a test stage suitable for determining if there is at least one wheel for which said speed indication has not been rejected, f) a first module for supplying, in the event of an affirmative response to the test e), a determination of the vehicle speed from the non-rejected indications, g) an estimator that is operative in case of a negative response to the test e) for supplying an estimation of the acceleration of the movement of the vehicle (γ mvt) relative to the ground, as a function of the measurement from the acceleration sensor b) and of at least one angular acceleration measurement obtained from at least one of said wheel sensors, to take account of the slope of the vehicle rolling ground, and h) a second module for the integration of a function of the movement acceleration produced by the estimator g), from a determination of the vehicle speed at a preceding instant, to determine the vehicle speed relative to the ground in the event of a negative response to the test e).