drive‑floor
·
runtime safety shield
a symbolic decision head proposes · the floor verifies every action before the car · it cannot hit what you throw at it
driver
PID
Model
floor
ON
OFF
▶
START DRIVE
—
0
collisions
100%
avoidance rate
0
distractions handled
0
floor interventions
0 m
distance driven
0
actions verified
command the car →
◀ Left
▲ Straight
Right ▶
− Slower
+ Faster
🎤 Hold to speak
target
30
km/h · next turn
straight
LIVE VIEW · CARLA
● streaming
DECISION STATE‑FLOW
t 0.0s
⚠ UNEXPECTED
observe
proposes
gated action
WORLD STATE
ground truth, every tick
speed
–
ahead
–
lane offset
–
heading err
–
DECISION HEAD
deterministic PID
steer
–
throttle
–
SAFETY FLOOR
verify before acting
SAFE
catches what the
planner never saw
overrides
0
ACTUATOR
the car
steer
–
throttle
–
brake
–
verify each invariant
On‑road
stay within the lane edges
idle
Speed limit
never exceed the limit
idle
Following gap
gap to anything ahead
idle
Emergency stop
full brake if impact imminent
idle
The decision head owns zero safety authority. Every action is clamped to the safe set before it reaches the car.
NAV · ROUTE FOLLOWING
0%
TELEMETRY
speed vs limit
–
gap to obstacle
clear
lane offset
0.0 m
steering
0.0
throttle
0.0
brake
0.0
SPEED & INTERVENTIONS
● connecting…
drive-floor PROTOTYPE · CARLA on Apple M4 · not for real vehicles
throw into the road →
🚶
People
run out
🧒
Kids
run out
🦌
Deer
🥫
Can
🚗
Car
stops dead
the floor will not let the car hit any of them