1. A vehicle comprising: wheel speed sensors; a curb detector configured to compare a first yaw rate to a reference yaw rate to physically detect an actual location of a curb based on measurements from the wheel speed sensors; and a steering control system configured to: before detecting the curb, maneuver the vehicle into a parking space based on an estimated location of the curb; and in response to detecting the curb, maneuver the vehicle into the parking space based on the actual location of the curb.