Zoox has issued a software recall covering its fleet of 105 autonomous vehicles after one robotaxi struggled to respond to heavy smoke at an active fire scene. The Amazon-owned company has deployed an update intended to improve how its vehicles detect and react to smoke near emergency operations.
The incident occurred on June 20 when an unoccupied Zoox vehicle entered a fire scene that was obscured by heavy smoke and had not yet been blocked with traffic cones. According to the official NHTSA recall report, the robotaxi braked sharply while trying to steer away before coming to a stop.
A remote Zoox operator then guided the vehicle in reverse, allowing first responders to place cones across two of the three traffic lanes. No passengers were inside, and Zoox said it was not aware of any injuries related to the incident.
Software Update Adds Heavy-Smoke Detection
Zoox said the software update improves an existing capability for identifying active emergency scenes by adding the ability to detect and respond to heavy smoke in certain situations. The update has already been distributed across the affected fleet.
The company investigated the event and said it had not identified any other incidents of the same type. Zoox discussed the severity, frequency and probable causes with the National Highway Traffic Safety Administration before deciding on July 7 to issue the voluntary recall.
The recall is software-based, meaning the vehicles do not need to be taken to a dealership or repair facility. Zoox has previously explained that autonomous vehicle recalls often involve remotely deploying updated software across a fleet rather than making physical repairs.
Regulator Warns About Emergency-Scene Interference
The recall comes shortly after NHTSA Administrator Jonathan Morrison warned autonomous vehicle companies about a pattern of driverless vehicles interfering with first responders. In an official call to action, Morrison said emergency scenes are not rare edge cases and that autonomous vehicles must respond safely to conditions such as smoke, fire, flashing lights, cones and hand signals.
NHTSA said driverless vehicles have entered active emergency scenes, blocked ambulances and fire engines, and failed to follow directions from police and other responders. The regulator urged developers to prioritize improvements and warned that vehicles unable to interact safely with emergency personnel create unacceptable risks.
Waymo has also faced scrutiny over incidents involving first responders. In several reported cases, emergency crews had to physically move its robotaxis after they obstructed active scenes.
Zoox Continues Expanding Its Service
The recall is not Zoox’s first. The company issued a voluntary software recall in March 2025 over unexpected hard braking and announced two more recalls that May following separate incidents involving a passenger vehicle and an e-scooter rider.
Zoox continues to test its purpose-built robotaxis in several U.S. cities and currently offers free rides in Las Vegas and San Francisco. The company is preparing for broader commercial service with vehicles that do not have steering wheels or pedals.
The latest incident shows the difficulty of preparing autonomous vehicles for unusual but foreseeable road conditions. Heavy smoke can obscure emergency vehicles, workers, road boundaries and other signals that a self-driving system normally uses to determine where it can safely travel.
Featured image credits: Wikimedia Commons
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