SYSTEMS AND METHODS FOR RESPONDING TO DETECTED EMERGENCY VEHICLES

Disclosed are systems and methods for responding to detected emergency vehicles. In some aspects, a method includes generating an emergency vehicle (EMV) detection signal based on sensor signals of an autonomous vehicle (AV); determining, based on the EMV detection signal, whether remote assistance (RA) is invoked for the EMV signal or whether the AV is to handle the EMV detection signal autonomously; and responsive to determining that the AV is to handle the EMV detection signal autonomously, determining a trajectory of the AV in response to the EMV detection signal.