If the driver isn’t paying attention already, this can’t work in the worst case. The roads and their speed limits are designed for the driver to safely come to

If the driver isn’t paying attention already, this can’t work in the worst case. The roads and their speed limits are designed for the driver to safely come to a stop if there’s an obstacle in the road. If you add another 3-10 seconds for the system to disengage, warn the user, have the user focus in the road and act appropriately, you are crashed into the emergency vehicle again.