SAN FRANCISCO (KGO) -- San Francisco leaders on Tuesday voiced support for new federal legislation aimed at regulating how self-driving vehicles interact with first responders during emergencies. 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. RELATED: SF may soon fine autonomous vehicle companies for impeding emergency response "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. MORE: Study finds lower crash rate for Waymo vehicles in San Francisco 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