Zoox has issued a software recall for its robotaxi fleet after one of its autonomous vehicles encountered difficulties navigating a smoke-filled emergency fire scene during an incident in June.
The Amazon-owned autonomous vehicle company said it has deployed a software update across its fleet of 105 robotaxis to improve the vehicles’ ability to recognize and respond to emergency scenes obscured by heavy smoke.
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Software Updated Following Investigation
According to a filing with the U.S. National Highway Traffic Safety Administration (NHTSA), the incident occurred on June 20 when a Zoox robotaxi approached an active fire scene where dense smoke reduced visibility.
The agency said the emergency area had not yet been secured with traffic cones when the vehicle arrived.
The robotaxi applied hard braking while attempting to steer away from the scene before coming to a stop. A remote Zoox teleoperator then reversed the vehicle away, allowing emergency personnel to establish a safety perimeter.
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Zoox told NHTSA that no passengers were inside the vehicle during the incident and that it is not aware of any injuries related to the event.
Following an internal investigation, the company developed a software update that enhances its emergency scene detection system by adding the capability to identify and respond to heavy smoke under certain operating conditions.
According to Zoox, this was the only incident of its kind identified during the company’s review.
Safety Scrutiny Increases
The recall comes shortly after NHTSA Administrator Jonathan Morrison urged autonomous vehicle developers to improve how their systems interact with emergency responders.
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In a letter issued to self-driving vehicle companies, Morrison said emergency scenes should not be treated as rare operating scenarios.
“The inability to detect and appropriately respond to such situations represents a functional insufficiency.”
He added:
“Emergency scenes are not rare or extreme ‘edge cases.'”
Zoox said it remained in communication with NHTSA throughout its investigation before deciding to initiate the voluntary recall.
Continued Testing Ahead of Commercial Launch
The latest action marks another software recall for Zoox as it continues expanding autonomous vehicle testing.
The company previously recalled software in March 2025 to address hard-braking behavior and introduced additional software updates in May following separate traffic incidents involving a passenger vehicle and an electric scooter rider.
Zoox is currently testing its purpose-built robotaxis in several U.S. cities and offers public trial rides in Las Vegas and San Francisco while preparing for commercial deployment.
The company is seeking regulatory approval from NHTSA for its fully autonomous vehicles, which have been designed without a steering wheel or pedals.
