Abstract: Velocity adjustments based on roadway scene comprehension may include controlling an ego vehicle traveling in a first lane, wherein the first lane comprises a lane of travel for the ego vehicle of a multilane roadway including at least the first lane and a second lane; capturing object ranges by the ego vehicle using at least a first sensor corresponding to a first sensor type; identifying a first vehicle operating in the second lane from the first sensor; determining a first velocity of the first vehicle; generating a first lane flow rate for the second lane from one or more captured object velocities, wherein the lane flow rate of the second lane is based on at least the first velocity of the first vehicle and a traffic density estimation; determining whether to modify an ego vehicle velocity based on the first lane flow rate; and in response to determining whether to modify the ego vehicle velocity, generating instructions for the ego vehicle's velocity.