While references abound with general guidelines such as the following, I do not know of one which makes a definitive statement.
The previously stated 10fps is a good conservative limit for sanitary sewer flow, due to expected continuous flow of high-solids liquid. Storm sewer flow is expected to be intermittent; although sand and grit are a concern, I usually try to limit velocity to 15fps (and have gone over 15, and had it approved) over shorter runs, 12 on longer runs in RCP. An ADS salesman once told me his engineers say HDPE pipe is good to periodic 25 fps, but I would never design to that. I should note that he was unable to provide literature backing the 25fps. ADS does provide literature showing negligible abrasion wear at 15fps with "fine sand", but measureable wear with "coarse sand"...but these tests are with very frequent cycling, which is not to be realistically expected within storm sewer pipes.
I know I didn't really answer the question, but it is a question I often have, so thanks for the motivation to summarize to myself!