US Patent 11597282 Closed-loop control of vehicle speed

A vehicle includes at least one wheel hub, a wheel hub speed sensor, and a controller. The wheel hub is configured to be coupled to a drive wheel. The wheel hub speed sensor is proximate to the wheel hub and is configured to generate a wheel hub speed signal that facilitates determination of a rate and direction of rotation of the wheel hub. The controller is configured to communicate power to a motor assembly coupled to the wheel hub to rotate the wheel hub at a particular rate and in a particular direction. The particular rate and the particular direction are associated with a particular position of a plurality of positions of a steering control.