determining a steady-state torque signal and acceleration or deceleration torque signal of the vehicle traveling down a sloped surface; and

controlling speed of the vehicle when traveling down the sloped surface and when a measured actuator regeneration current exceeds a threshold, the actuator current being generated by a motorized drive arrangement of the vehicle that applies torque to at least one ground-contacting element of the vehicle for braking;

wherein the speed of the vehicle is controlled based on:

the steady-state torque signal;

the acceleration or deceleration torque signal of the vehicle;

a measured actuator regeneration current;

weight of the vehicle and a payload;

the torque applied to the ground-contacting element;

acceleration of the vehicle; and

the speed of the vehicle.