diff --git a/board/safety.h b/board/safety.h
index 23e96cc23..a3271c59a 100644
--- a/board/safety.h
+++ b/board/safety.h
@@ -332,7 +332,6 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   regen_braking = false;
   regen_braking_prev = false;
   cruise_engaged_prev = false;
-  vehicle_speed = 0;
   vehicle_moving = false;
   acc_main_on = false;
   cruise_button_prev = 0;
@@ -345,6 +344,8 @@ int set_safety_hooks(uint16_t mode, uint16_t param) {
   valid_steer_req_count = 0;
   invalid_steer_req_count = 0;
 
+  vehicle_speed.min = 0;
+  vehicle_speed.max = 0;
   torque_meas.min = 0;
   torque_meas.max = 0;
   torque_driver.min = 0;
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
index c1b1d8195..0a8569980 100644
--- a/board/safety/safety_ford.h
+++ b/board/safety/safety_ford.h
@@ -170,7 +170,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
     // Update vehicle speed
     if (addr == MSG_BrakeSysFeatures) {
       // Signal: Veh_V_ActlBrk
-      vehicle_speed = ((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6;
+      update_sample(&vehicle_speed, ((GET_BYTE(to_push, 0) << 8) | GET_BYTE(to_push, 1)) * 0.01 / 3.6)
     }
 
     // Check vehicle speed against a second source
diff --git a/board/safety/safety_nissan.h b/board/safety/safety_nissan.h
index 550a78005..4f005cd45 100644
--- a/board/safety/safety_nissan.h
+++ b/board/safety/safety_nissan.h
@@ -65,7 +65,7 @@ static int nissan_rx_hook(CANPacket_t *to_push) {
         uint16_t right_rear = (GET_BYTE(to_push, 0) << 8) | (GET_BYTE(to_push, 1));
         uint16_t left_rear = (GET_BYTE(to_push, 2) << 8) | (GET_BYTE(to_push, 3));
         vehicle_moving = (right_rear | left_rear) != 0U;
-        vehicle_speed = (right_rear + left_rear) / 2.0 * 0.005 / 3.6;
+        update_sample(&vehicle_speed, (right_rear + left_rear) / 2.0 * 0.005 / 3.6);
       }
 
       // X-Trail 0x15c, Leaf 0x239
diff --git a/board/safety/safety_tesla.h b/board/safety/safety_tesla.h
index b82d89646..b99bf3793 100644
--- a/board/safety/safety_tesla.h
+++ b/board/safety/safety_tesla.h
@@ -80,8 +80,9 @@ static int tesla_rx_hook(CANPacket_t *to_push) {
 
       if(addr == (tesla_powertrain ? 0x116 : 0x118)) {
         // Vehicle speed: ((0.05 * val) - 25) * MPH_TO_MPS
-        vehicle_speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
-        vehicle_moving = ABS(vehicle_speed) > 0.1;
+        float speed = (((((GET_BYTE(to_push, 3) & 0x0FU) << 8) | (GET_BYTE(to_push, 2))) * 0.05) - 25) * 0.447;
+        vehicle_moving = speed > 0.1;
+        update_sample(&vehicle_speed, speed);
       }
 
       if(addr == (tesla_powertrain ? 0x106 : 0x108)) {
diff --git a/board/safety_declarations.h b/board/safety_declarations.h
index 3ea2c89f9..e768e5c32 100644
--- a/board/safety_declarations.h
+++ b/board/safety_declarations.h
@@ -192,7 +192,7 @@ bool brake_pressed_prev = false;
 bool regen_braking = false;
 bool regen_braking_prev = false;
 bool cruise_engaged_prev = false;
-float vehicle_speed = 0;
+struct sample_t vehicle_speed;
 bool vehicle_moving = false;
 bool acc_main_on = false;  // referred to as "ACC off" in ISO 15622:2018
 int cruise_button_prev = 0;