A video surfaced in September showing a Waymo passing a school bus illegally, leading to a federal investigation.

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Waymo says it will be filing a voluntary software recall with the National Highway Traffic Safety Administration. The recall concerns reports of the self-driving cars illegally passing school buses.

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In its investigation, the NHTSA said a Waymo AV in Atlanta failed to remain stopped when approaching a school bus.

Waymo is issuing a voluntary software recall for its autonomous vehicles after multiple reports of the robotaxis passing ...