1. A system comprising: one or more perception sensors configured to generate perception data about a region near a vehicle; an attribute component configured to detect one or more environmental attributes based on the perception data; an estimator component configured to determine an estimated legal speed limit based on the environmental attributes, wherein the estimator component determines the estimated legal speed limit based on environmental attributes comprising one or more of a size of a shoulder of a road, a number of lanes on a road, a presence of houses, a presence of buildings, a presence of parked cars, a presence of a concrete medium, a lane marking, a curb, a rumble strip, a lane width, and a road curvature; and a notification component configured to provide the estimated legal speed limit to an automated driving system or driver assistance system of the vehicle.