Abstract: Systems and methods for identifying that an emission received or captured from the external environment, or a received electromagnetic signal carrying a data, indicates an emergency vehicle in proximity to a substantially autonomous vehicle and that the emergency vehicle occupies a relative position and/or navigating a relative speed such that the substantially autonomous vehicle is a current or future obstruction for the emergency vehicle. A system comprising at least an aspect of the substantially autonomous vehicle is capable of causing the maneuver of the substantially autonomous vehicle to a position, such that substantially autonomous vehicle is not obstructing the emergency vehicle when at the position.