Abstract: Systems and methods for siren detection in a vehicle are provided. A method includes recording an audio segment, using a first audio recording device coupled to an autonomous vehicle, separating, using a computing device coupled to the autonomous vehicle, the audio segment into one or more audio clips, generating a spectrogram of the one or more audio clips, and inputting each spectrogram into a Convolutional Neural Network (CNN) run on the computing device. The CNN may be pretrained to detect one or more sirens present in spectrographic data. The method further includes determining, using the CNN, whether a siren is present in the audio segment, and if the siren is determined to be present in the audio segment, determining a course of action of the autonomous vehicle.