Accompanying a parturient on Shabbos

If a woman needs to give birth on Shabbos, who can accompany her? Can both her husband and her doula ride with her?    

Dear …!

There are two reasons why it is permitted to accompany a woman who needs to give birth on Sbabbos on her drive to the hospital. One is that a parturient woman needs help. The other is that knowing that someone is attending to her gives her a peace of mind.

Therefore, even if she really only needs one person to help her in the hospital, but she won’t feel confident, unless she has two helpers, then it’s permitted for two people to come with her. And thus, it’s better that the woman herself decide ahead of time whom she needs with her at childbirth.

Shulchan Oruch, section Orach Chaim, ch. 330, §1