Velocity scale is automatically determined for ultrasound imaging. Receive signals corresponding to different pulse repetition intervals are used to estimate velocities. The different velocities are used to determine the velocity scale. For example, the different pulse repetition intervals are obtained by selecting different sets of signals from a group of signals for a scan line. As another example, the different pulse repetition intervals are obtained by transmitting for a scan line with changing, such as increasing, pulse repetition intervals. The lower pulse repetition interval of a pair of intervals associated with a sign change in the phase is used for the velocity scale. In yet another example, at least two demodulation frequencies are used for a broadband transmit in at least two sets, each set with a different pulse repetition interval. Velocities are estimated for a greater number of pulse repetition intervals than transmitted using the broadband pulses.