Systems and Methods For Emergency Vehicle Detection

Systems and methods for emergency vehicle detection are provided. An example method includes obtaining sensor data including image frames indicative of an actor in an environment of an autonomous vehicle. For a respective image frame, the example, method includes determining, using a machine-learned model, that the actor is an emergency vehicle and generating output data indicating that the emergency vehicle is active or inactive. The example method includes storing (e.g., in a buffer) attribute data for the respective image frame. The attribute data includes the output data and a time associated with the respective image frame. Once the buffer reaches a particular threshold, the example method includes determining (e.g., using a second model) that the emergency vehicle is an active emergency vehicle based on the attribute data. The example method includes performing an action for the autonomous vehicle based on the active emergency vehicle being within the autonomous vehicle's environment.