A vehicle control system includes a powertrain electronic control unit and an electronic stability control unit that is connected to the powertrain electronic control unit via a vehicle communication bus. The vehicle powertrain includes a wheel, a wheel speed sensor that is configured to detect a speed of the wheel, an electric motor that is configured to drive the wheel, and an electric motor speed sensor that is configured to detect the speed of the electric motor. If the wheel speed sensor is operating normally, the electronic stability control unit controls the vehicle based on an output of the wheel speed sensor. However, if the wheel speed sensor is not operating normally, the electronic stability control unit controls the vehicle based on an output of the electric motor speed sensor.