A method for avoiding interference with a bus. The method includes detecting a bus 702 and obtaining image data from the bus 704, such as information displayed on the bus. This information may relate to a bus code, route number or license plate number. A deep neural network trained on bus images may process the information to associate the bus with a bus route 706 and stop locations. Map data corresponding to the stop locations may also be obtained and used to initiate a lane change or safety response in response to proximity of the bus to a stop location 714, 716. The detection may take place on an autonomous vehicle following the bus, allowing the vehicle to anticipate future manoeuvres of the bus. The vehicle can then safely navigate around the bus and avoid any pedestrians.