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Manoeuvring in the presence of emergency vehicles is still a major issue forvehicle autonomy systems. Most studies that address this topic are based onrule-based methods, which cannot cover all possible scenarios that can takeplace in autonomous traffic. Multi-Agent Proximal Policy Optimisation (MAPPO)has recently emerged as a powerful method for autonomous systems because itallows for training in thousands of different situations. In this study, wepresent an approach based on MAPPO to guarantee the safe and efficientmanoeuvring of autonomous vehicles in the presence of an emergency vehicle. Weintroduce a risk metric that summarises the potential risk of collision in asingle index. The proposed method generates cooperative policies allowing theemergency vehicle to go at $15 \%$ higher average speed while maintaining highsafety distances. Moreover, we explore the trade-off between safety and trafficefficiency and assess the performance in a competitive scenario.

Safe and Efficient Manoeuvring for Emergency Vehicles in Autonomous Traffic using Multi-Agent Proximal Policy Optimisation