An elevator car guide wheel system includes a guide wheel located at an elevator car, configured to contact a guide rail of an elevator system. The guide wheel includes a wheel hub located at a guide wheel axis, a wheel rim, and a wheel outer portion located at the wheel rim and configured for contact with the guide rail. A magnetic element is located at the guide wheel, and a sensor is located at the guide wheel and is configured to detect rotational direction and rotational speed of the guide wheel about a guide wheel axis via detecting a magnetic field of the magnetic element.