Hi Yuri,
The Vega v3 expression scale functions can be used to access the legend category intervals:
In the Vega choropleth map example with scale named "color",
scale('color', datum.unemp.rate)
will return the color value (e.g. #0000ff) of the legend category, and
invert('color', scale('color', datum.value))
will return the legend interval as an array of 2 numbers (e.g. [0.012, 0.062]) -- the first value will be the same as datum.value.
The following is a modified version of the Vega choropleth map example that highlights all corresponding counties when hovering over a legend color symbol. Works in new Vega v3 on-line editor
but may take a couple of seconds after hovering over a legend symbol to see changes in map.

Vega spec (v3.0.0 beta 38)
----------------------------------------
{
"width": 960,
"height": 500,
"autosize": "none",
"signals": [
{
"name": "signal_select_data_color",
"value": null,
"on": [
{
"events": "@legendSymbol:mouseover",
"update": "scale('color', datum.value)"
},
{
"events": "@legendSymbol:mouseout",
"update": "null"
}
]
}
],
"data": [
{
"name": "unemp",
"url": "data/unemployment.tsv",
"format": {"type": "tsv", "parse": "auto"}
},
{
"name": "counties",
"url": "data/us-10m.json",
"format": {"type": "topojson", "feature": "counties"},
"transform": [
{ "type": "lookup", "from": "unemp", "key": "id", "fields": ["id"], "as": ["unemp"] },
{ "type": "filter", "expr": "datum.unemp != null" }
]
}
],
"projections": [
{
"name": "projection",
"type": "albersUsa"
}
],
"scales": [
{
"name": "color",
"type": "quantile",
"domain": {"data": "counties", "field": "unemp.rate"},
"range": {"scheme": "blues", "count": 5}
}
],