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Re: Wheel Speed Sensors / Vehicle Speed Sensors
I'd actually suggest using a multitude of different sensors.
Use encoders (hall effect, optical, it shouldn't matter too much) to measure the wheel speed. Use a dual-axis accelerometer and gyro, and integrate the results over time to build a simple inertial navigation system. If you are still under budget, look into the RADAR unit.
With many different sensors, you can "vote" among the sensors to find the best data. With multiple sensors, you also have graceful degradation, for if one of the sensors ever failed, the other sensors can still operate the vehicle.
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