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.

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

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Waymo is issuing a software recall after reports the company's autonomous vehicles failed to stop for school buses.

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Waymo said it will file a voluntary software recall with US federal authorities after its autonomously driven vehicles repeatedly failed to fully slow or stop for school buses.