Methods and systems for detecting a medical emergency related to the driver of a vehicle are described. Various data, such as in-situ biophysical data of the driver, a medical history of the driver, and in-situ motion data of the vehicle, are employed to determine a possible medical emergency. In an event that a medical emergency is detected, the system determines the severity of the emergency and takes appropriate control of the vehicle. If the medical emergency is not life-threatening, the system may drive the vehicle to a safe area, park the vehicle, and then request help from emergency service providers (e.g., ambulance and police). If the medical emergency is severe (e.g., life-threatening), the system may transition the vehicle to an EMS (Emergency Medical Service)-privileged vehicle and autonomously drive the vehicle to an emergency service provider.
