A definition I like for this is 'Ahead of...’. Whatever is described in the latter clause takes place before whatever precedes に先駆けて.
Examples from the 日本語総まとめN1文法 book -
"その映画は、世界に先駆けて、日本での上映が決まった。"
It's been decided that the world premiere for this movie will be in Japan.
"その会社は、他社に先駆けて、低燃費の車を開発した。"
This company has been at the forefront of developing fuel-efficient cars.
The book's translations, not mine.