The recall fixed a defect in the vehicles' automated driving system that could lead to inaccurate prediction of other vehicles' movements, potentially increasing crash risk, Zoox said.
The issue stemmed from an April 8 incident where an unoccupied Zoox robotaxi collided with a passenger vehicle, according to a report filed May 1 with the National Highway Traffic Safety Administration.
The crash resulted in no injuries and minor damage to both vehicles, the report said. It didn't specify where in Las Vegas the incident occurred.
"After analysis and rigorous testing, Zoox identified the root cause. We issued a software update that was implemented across all Zoox vehicles," Zoox officials wrote Tuesday in a blog post. "After the collision, Zoox paused all driverless vehicle operations in all cities to review the incident."
Robotaxi services and testing have since resumed following a rollout of the new software update.
"All Zoox vehicles on the road today, including our purpose-built robotaxi and test fleet, have the updated software," the blog post said.
Foster City, Calif.-based Zoox, which was founded in 2014, established operations in Nevada in 2019. Its autonomous vehicles have navigated Las Vegas public roads since June 2023.
Initially, Zoox deployed a fleet of Toyota Highlanders around its southwest valley headquarters to map the area and collect data on unique local driving conditions.
The vehicles have operated autonomously with safety drivers aboard in preparation for the full robotaxi fleet deployment.
Zoox expanded to the Las Vegas Strip and adjacent roadways last year. Officials highlighted the Strip's challenging driving environment, characterized as "full of complex driving scenarios, including more than eight lanes with multiple turning lanes, high speeds, heavy pedestrian traffic and large-scale intersections."
The data gathered by the robotaxis during their initial months on the Strip will train the vehicle fleet until Zoox is prepared to offer driverless rides to the public.
The next step will offer rides to employees' families and friends, and then move to other riders, initially offering free rides.
"We didn't deploy our robotaxi in these environments until we met and exceeded key metrics necessary for its safe operation," Jesse Levinson, co-founder and chief technology officer, said in a statement last year. "Driving autonomously and expanding our geofencing in California and Nevada will provide invaluable learnings as we fine-tune our technology in preparation for commercial launch."
Nevada pioneered autonomous vehicle regulation, beginning in 2011 with Assembly Bill 511, which authorized the Nevada Department of Transportation to develop comprehensive rules governing driverless vehicles.
Some rules require a human operator at the wheel of an autonomous vehicle if it's being tested or operated on a highway, and that any crashes involving the vehicle that result in personal injury or property damage exceeding $750 be reported to the Nevada Department of Motor Vehicles.
"Through this voluntary recall, we want to demonstrate our commitment to transparency, regulatory compliance and rider safety in the communities we serve," Zoox said in its blog post Tuesday. "Zoox remains committed to improving and changing the way people move around their cities for the better. That means continuing our work on reinventing personal transportation for a safer, cleaner and more enjoyable future on the road."
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