  The innermost section of the Solar system has not been extensively studied
because minor bodies moving inside Earth's orbit tend to spend most of their
sidereal orbital periods at very low solar elongation, well away from the areas
more frequently observed by programs searching for near-Earth objects. The
survey carried out from the Zwicky Transient Facility (ZTF) is the first one
that has been able to detect multiple asteroids well detached from the direct
gravitational perturbation of the Earth-Moon system. ZTF discoveries include
2019 AQ3 and 2019 LF6, two Atiras with the shortest periods among known
asteroids. Here, we perform an assessment of the orbital evolution of 2020 AV2,
an Atira found by ZTF with a similarly short period but following a path
contained entirely within the orbit of Venus. This property makes it the first
known member of the elusive Vatira population. Genuine Vatiras, those long-term
dynamically stable, are thought to be subjected to the so-called von
Zeipel-Lidov-Kozai oscillation that protects them against close encounters with
both Mercury and Venus. However, 2020 AV2 appears to be a former Atira that
entered the Vatira orbital domain relatively recently. It displays an
anticoupled oscillation of the values of eccentricity and inclination, but the
value of the argument of perihelion may circulate. Simulations show that 2020
AV2 might reach a 3:2 resonant orbit with Venus in the future, activating the
von Zeipel-Lidov-Kozai mechanism, which in turn opens the possibility to the
existence of a long-term stable population of Vatiras trapped in this
configuration.
