Emergency vehicle detection and response

A system comprising:

• one or more processors;
• and
• one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
• receiving sensor data from a sensor associated with an autonomous vehicle traversing an environment;
• determining, based at least in part on the sensor data, a traffic flow associated with objects operating in the environment;
• determining a difference between the traffic flow and an expected traffic flow;
• based at least in part on determining that the difference meets or exceeds a threshold, determining that an emergency vehicle is operating in the environment;
• determining, based at least in part on the sensor data, a predicted trajectory associated with the emergency vehicle;
• determining, based at least in part on the predicted trajectory, an action of the autonomous vehicle;
• determining, based on the action, a trajectory for performing the action;
• determining, based on a current trajectory of the autonomous vehicle and the trajectory, an acceleration needed to switch to the trajectory from the current trajectory of the autonomous vehicle;
• determining that the acceleration is equal to or less than a threshold acceleration;
• and
• based on determining that the acceleration is equal to or less than the threshold acceleration, controlling the autonomous vehicle based on the trajectory.