The ”Formula Student Driverless” is a specific category within the Formula Student com- petition in which students design, build, and race single-seat vehicles without drivers. This category focuses on the development of autonomous or driverless vehicles, using advanced technologies such as autonomous driving systems, sensors, artificial intelligence, and other emerging technologies to enable the vehicles to operate without human intervention. In this thesis work carried out in collaboration with the ”Squadra Corse Driverless Polito” team, a method for estimating the longitudinal and lateral velocity of the vehicle in the absence of sensors such as a Ground Speed Sensor is introduced. Knowledge of these state variables is crucial for managing the controls of an autonomous vehicle.