The proposed measure, called the AV Emergency Response Coordination Act, was introduced by Rep. Kevin Mullin, D-San Mateo. Supporters say it would establish nationwide standards designed to ensure autonomous vehicles do not impede emergency operations.
As robotaxis become increasingly common on Bay Area roads, city officials and public safety agencies say clear protocols are needed when emergencies unfold.
Many view robotaxis as an emerging mode of transportation.
"I take them once a week," one rider said.
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"They kind of drive aggressively. I can't lie. Sometimes I'm like whoa," said Shanon Chang of Palo Alto.
"I've only very smooth rides in Waymos," said another rider.
Autonomous vehicles have drawn attention for incidents involving emergency response efforts. Officials cited cases in which vehicles have driven through crime scenes or obstructed fire crews and paramedics.
On the Fourth of July, numerous Waymo vehicles sat idle on San Francisco streets during heavy traffic, adding to congestion in parts of the city.
Mullin said the legislation is intended to create consistent standards across the country.
"This is an attempt for the federal government to engage on the issue and develop some uniform standards of protocol across the country that really puts the onus on these companies to do the right thing," Mullin said.
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Under the proposal, autonomous vehicle companies would be required to provide standardized emergency response protocols for first responders.
Supporters of the measure say the goal is to ensure autonomous vehicles can operate safely alongside emergency personnel while maintaining access to increasingly busy roadways.
The bill would also establish a 24-hour hotline for communication between emergency personnel and autonomous vehicle companies during incidents.
In addition, the legislation would create "digital geofencing," allowing public officials to digitally block self-driving vehicles from entering active emergency zones or hazardous areas.
San Francisco Mayor Daniel Lurie said the bill would provide clearer guidance for both local governments and autonomous vehicle operators.
"This legislation will give local government and autonomous vehicle companies a clearer framework for coordinating during an emergencies and unexpected disruptions," Lurie said. "It would also ensure that AV's respond appropriately when streets close, traffic patterns change, signals fail or when first responders need immediate access."
MORE: Trapped in a haywire Waymo: SF passenger recounts terrifying construction zone ordeal
San Francisco Fire Chief Dean Crispen said many of the proposed practices are already being used locally.
"A lot of these things are already in place in San Francisco, but it's nice to know we're getting support from state, federal, local officials," Crispen said.
Waymo, which officials said already carries out many of the measures included in the bill, issued a statement supporting the proposal:
"Establishing minimum guidelines would provide the entire industry and public safety community with a consistent framework... ensuring emergency responders have the resources and certainty they need whenever they encounter an autonomous vehicle on the road," the company said.
The proposed legislation follows an earlier bill introduced by Mullin that would require autonomous vehicle manufacturers to collect and release additional safety data, including reports of incidents in which vehicles stop suddenly or block emergency responders.
The effort comes as Foster City-based Zoox prepares to begin public service in the near future.