Systems and methods are provided for controlling an autonomous vehicle. In one embodiment, a method includes: receiving image data from a camera device coupled to the autonomous vehicle; computing, bya processor, a value based on the image data; determining, by a processor, an existence of an emergency vehicle based on the computed value; selecting, by a processor, a first control strategy basedon the determined existence of an emergency vehicle; and generating, by a processor, at least one signal to autonomously control the autonomous vehicle based on the control strategy.