Vehicle emergency V2X notification based on sensor fusion

Methods, systems, computer-readable media, and apparatuses for vehicle emergency vehicle-to-anything (V2X) notification based on sensor fusion are presented. In some embodiments, a vehicle may receive an indication of an issue or impairment of the vehicle or an occupant of the vehicle, including the driver. Using information from sensors within the vehicle, an on-board processor may determine the nature of the impairment. Information about the nature of the impairment may then be transmitted, using V2X notification, to neighboring vehicles and/or an infrastructure entity (e.g., a base station, a roadside unit, a radio tower, and/or a central application server). The neighboring vehicles may then negotiate using V2X communication with the impaired vehicle and the other neighboring vehicles and/or be directed by the infrastructure entity to proceed using a negotiated course of action that accounts for the nature of the impairment in the impaired vehicle.