Authority Online · 50 Hz Deterministic Plane

Autonomy,
engineered for the road.

Velora is a production-grade autonomy platform — perception, tracking, prediction, decision, planning and control unified under a single sealed state authority. Built simulation-first, hardened scenario-by-scenario, deployed audit-ready.

Explore the Platform
  • 50HzDeterministic tick
  • <1msState merge latency
  • 6Sealed control slices
  • 100%Audited frames
Determinism Stability Clarity Performance Visual Polish Determinism Stability Clarity
The Platform

A single operating plane for the entire vehicle.

Six tightly coupled domains, one source of truth. Every tick, every signal, every decision — recorded, reproducible, and reviewable.

Perception

Multi-modal sensing fused into a unified scene graph. Vehicles, pedestrians, cyclists and static obstacles — classified, tracked, scored.

Tracking & World Model

Stable per-object identities survive single-frame dropouts. Velocity is EMA-smoothed; missed tracks decay before they vanish — never an apparent ghost acceleration.

Prediction & Intent

Per-agent intent classification with N-frame hysteresis. Single-frame jitter is filtered before it ever reaches arbitration.

Decision

CRUISE → FOLLOW → AVOID → STOP. Every transition carries a reason code; severity merges, never silently downgrades.

Planning

Smooth, look-ahead-aware trajectories. Lane-change FSM with perception-confirmed merge and gap acceptance gates.

Control

PID with rate limits. Hard safety gates fire before action mapping — collision flag, lane-emergency, hand-brake at speed.

State Authority

One clock. One truth. One sealed plane.

Every subsystem writes into a single, monotonic, journaled state. There is no race, no drift, no last-write-wins. The vehicle either knows, or it stops.

  • Monotonic ticks. A 50 Hz heartbeat the entire stack agrees on.
  • Ring journal. The last 1000 ticks — about 20 seconds of full state — are replayable, byte-for-byte, on every node.
  • Clone-on-read. No consumer ever holds a mutable handle to vehicle state.
  • Stale-write rejection. Late slices are refused, not silently merged.
Multi-Agent Negotiation

Lowest TTI commits. Everyone else yields.

Velora reasons about other drivers, not just other detections. Time-to-intersection sorts the arena; the vehicle commits, yields, or — when the world stalls — creeps to break a deadlock. Every arbitration is recorded, replayable, and reviewable.

GO

Commit

Ego holds the lowest time-to-intersection. The trajectory advances, the controller actuates, the journal records the commit reason.

YIELD

Stand Down

A conflicting agent's TTI dominates. Velora softens to FOLLOW, holds gap, and updates intent at the next tick — never on a stale frame.

WAIT · CREEP

Break the Deadlock

Four-way standoffs are detected as sustained WAIT + near-zero speed. Creep mode advances under strict gates — never at the cost of the safety layer.

Safety Posture

Defensive by construction. Audited by default.

Every command is signed, every frame is journaled, every mode change is reviewable. Velora does not improvise.

01

Hard Safety Layer

Override-proof STOP. Three gates fire before action mapping: TTC < 1.5 s, lane offset > 0.80, collision flag. No layer above can silence them.

02

Reproducible Frames

A 1000-tick ring journal — roughly 20 seconds of full state — is on every node. Any second of any drive can be replayed identically.

03

Fail-Stop, Not Fail-Improvise

When the world is no longer understood, the vehicle yields. Silence is treated as an unsafe input.

For Operators

Ready when your fleet is.

Console access is gated behind a single-phrase, hardened entry. Issue a phrase to your operators — never a password, never a token in the wild.

Sealed entry · AES-256-GCM · PBKDF2-SHA-512 · 600 000 iterations · per-deployment salt · zero plaintext on disk.