An automated driving system and methods are disclosed. The automated driving system includes a perception system disposed on an autonomous vehicle. The automated driving system can detect, based on an audio recording captured by the perception system, an emergency vehicle operating in an emergency mode. After detection, an image of the environment surrounding the autonomous vehicle can be captured by the perception system. Based on at least one of the audio recording and the image of the environment surrounding the autonomous vehicle, a location of the emergency vehicle in respect to the autonomous vehicle can be determined. If the location of the emergency vehicle is such that the autonomous vehicle is required to comply with a traffic regulation, the automated driving system can send a command to one or more vehicle systems of the autonomous vehicle to implement one or more maneuvers to comply with the traffic regulation.