From FitFreak.net
Here is the exact procedure from the technical manual... your car does NOT need to be off to begin the process... you can start this at any time even if car is running...
1. Turn the ignition switch to ON (II). Make sure turn off the audio unit.
2. Push and hold the preset No. 1 and No. 6 buttons. While holding the buttons, push the power button (A). Release the buttons and the self-diagnostic mode begins.
3. Press Preset button 5. Now, when you drive the vehicle, the VSP indicates the vehicle speed in km/h.
4. The self-diagnostic mode ends when you turn off the audio unit or turn the ignition switch to LOCK (0).
You can do it on the fly too, if your fingers can reach.
Only con is you can't adjust the radio while its active. Also, my speedo reads ~4km/h faster than what's displayed on the radio.....
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