Examples are provided for locating an emergency vehicle relative to another vehicle. An example in-vehicle computing system of a first vehicle includes an alert output device, a sensor subsystem communicatively coupled to one or more of an audio sensor and an image sensor, a processor, and a storage device storing instructions executable by the processor to, responsive to detecting the audible or visual indicator of the emergency vehicle, estimate a location of the emergency vehicle based on one or more parameters of the audible or visual indicator, present an alert when the estimated location of the emergency vehicle is within an actionable region relative to the first vehicle, the alert including an indication of the estimated location of the emergency vehicle, and present no alert or a reduced alert when the estimated location of the emergency vehicle is not within the actionable region.