In a filing to the US NHTSA regulatory body, Waymo is recalling its robotaxis over a software issue that could cause the vehicles to enter and speed through US freeway construction zones.

Reports say the company's robotaxis have failed to recognise freeway construction zones in instances in Phoenix and San Francisco. The solution is to update Waymo’s self-driving software.

The equipment recalled is the 5th Generation Automated Driving System (ADS). The recalled products differ from products not included in the recall in that the recalled products are capable of driverless freeway operation, while the products not recalled are not capable of driverless freeway operation.

Waymo determined the scope of the affected population using information about the driverless capabilities of each vehicle and information about the software on each vehicle.

Waymo said in the filing that ‘under certain circumstances, the AV may enter and drive at speed in freeway construction zones due to inappropriately prioritising the avoidance of other freeway hazards and/or failing to recognise the construction zone’.