IROCKRIDER OS · ALL-DOMAIN RTOS
All-Domain Vehicle Real-Time OS
An automotive-grade all-domain real-time operating system benchmarked against AUTOSAR CP/AP — ISO 26262 ASIL-B SEooC functional safety, six-layer standardized architecture, dual-redundant motor control. One OS foundation powering six product lines.
01 / CORE VALUE
Core Value
Cost Reduction & Efficiency
Escape high AUTOSAR licensing fees and tool procurement costs — development cycles shortened by over 60%, with full software-hardware decoupling
Compliance Assurance
Full set of ASIL-B functional safety deliverables, meeting entry certifications for military, emergency, industrial and medical high-end industries
Scenario-Dedicated
Native built-in off-road 4WD, active suspension and terrain-adaptive control — no secondary deep development required
All-Domain Scaling
Supports three deployment modes: standalone operation, multi-controller distributed clusters, multi-robot formation coordination
Scaled Reusability
One OS foundation supports six product lines, with modular tailoring for different scenario needs
02 / SPECIFICATIONS
Core Specifications
Kernel Architecture
RA8P1 dual-core architecture (M85@480MHz safety core + M33@200MHz compute core), RT-Thread 5.x automotive-customized kernel
Real-Time Performance
10ms vehicle-level hard real-time main control cycle, fault response latency ≤2ms
Communication
Dual CAN FD 8Mbps, native support for VESC motor protocol, Ant BMS protocol and Mesh formation communication, with E2E end-to-end verification
Safety Rating
ISO 26262 ASIL-B SEooC, FIT < 100, MTBF > 10⁷h
Hardware Drive Capability
4×15kW in-wheel drive motors + 4×150Nm active suspension torque motors under unified all-domain scheduling
Control Capability
9 four-wheel-drive modes, crab walk / zero-radius turn in place, suspension position closed-loop accuracy ±0.5mm
Diagnostics & Storage
256 standard DTC fault records, black-box traceability of 5s before / 2s after faults, power-loss data persistence
Scalability
Three-tier deployment: standalone / distributed cluster / multi-robot formation, with OTA delta updates and remote operations
03 / ARCHITECTURE
Six-Layer Standardized Architecture
Full-stack layered design from hardware foundation to application components. Every layer aligns with AUTOSAR standards, with 100% smooth migration of original VCU capabilities.
All-Domain Application Components
iRockRider ASW
Aligned with AUTOSAR ASW application components
Modular and tailorable design: general base components + six industry-specific component sets, fitting the full product line
- General base components: cruise control, ESC electronic stability, multi-sensor fusion, vehicle thermal management, basic path planning
- Six industry-specific sets: rescue detection, military reconnaissance, industrial inspection, scientific surveying, rehabilitation balance, educational simulation
Virtual Functional Bus
iRockRider VFB
Aligned with AUTOSAR RTE virtual runtime bus
Middleware for application component decoupling and standardized communication
- Unified virtual communication channels — applications need not distinguish bus types, enabling all-domain data exchange
- Standardized system APIs for one-call access to torque, suspension, fault and power capabilities
- Modeling tools auto-generate interaction code, significantly reducing development cost
All-Domain Basic Software Stack
iRockRider BSW
Aligned with AUTOSAR BSW basic software services
Four core service packages — the original VCU 3-in-1 capabilities sink into native OS system services
- COM communication services + DCM/DEM/NvM diagnostics & storage services
- Safety vehicle safety services + chassis-dedicated services (exclusive)
Hardware Abstraction Layer
iRockRider HAL
Aligned with AUTOSAR MCAL hardware abstraction
Full software-hardware decoupling with unified hardware access standards — swap hardware without touching upper business logic
- Standardized peripheral drivers: full support for ADC, PWM, GPIO, CAN FD, SPI, UART, HyperRAM
- Safety hardware drivers: STO hardware torque cutoff, BMI088 6-axis IMU, 40-pin resource permission locking
- Dual-redundant motor channels: CAN FD primary + PWM backup control with seamless failover
Safety Real-Time Kernel
iRockRider Core
Aligned with AUTOSAR OS real-time kernel
Deep automotive safety customization based on RT-Thread 5.x, with physical isolation of safety and compute
- Dual-core isolated scheduling: M85 safety core runs ASIL-B safety tasks, M33 compute core runs QM-level workloads
- Kernel safety mechanisms: MPU memory isolation, hardware watchdog, task stack overflow protection, Flash/ECC integrity checks
- Standards compatible: OSEK/AUTOSAR OS common APIs, extended with off-road-specific scheduling interfaces
Titan RA8P1 Hardware Foundation
Titan Platform
Underlying hardware support platform
Mass-production stable RA8P1 main control platform with fixed hardware resource configuration
- Standardized 40-pin definition, locking dedicated core resources such as IMU and CAN bus
- Prevents illegal occupation by upper-layer applications, ensuring system stability and safety
04 / CORE SERVICES
Core Service Packages
Four service packages in the L4 basic software stack — the original VCU 3-in-1 capabilities sink into native OS system services.
COM
COM Communication Services
Dual CAN FD high-speed communication, VESC motor protocol, Ant BMS protocol, uORB local IPC, Mesh multi-robot formation, E2E safety verification
DCM
Diagnostics & Storage Services
UDS standard diagnostics, 256 DTC fault management, black-box data traceability, non-volatile parameter storage, OTA delta updates, FinSH debug terminal
SAFE
Safety Vehicle Safety Services
Four-level automatic fault degradation, collision detection cutoff, sensor data validation, torque limiting, high-speed mode safety lock
CHAS
Chassis-Dedicated Services (Exclusive)
9-mode 4WD scheduling, four-wheel active suspension adaptive control, vehicle energy management and regenerative braking
05 / REDUNDANCY
Dual-Redundant Safety Control
Three independent channels: primary + backup + hardware-level final cutoff. No single failure leads to loss of control.
Primary Control Channel
CAN FD 8Mbps bus, 50Hz high-frequency torque command delivery and status feedback
Backup Channel
Independent PWM 1kHz speed control with automatic seamless switchover on bus failure
Ultimate Safety Channel
Hardware STO torque cutoff — millisecond-level power disconnection in collision, overvoltage, overtemperature and overcurrent scenarios
06 / FUNCTIONAL SAFETY
Functional Safety System
Full-Layer Protection Mechanisms
Kernel Memory Isolation
MPU hardware-level memory protection with physical isolation of safety and business tasks
Communication E2E Verification
End-to-end data integrity verification against bus data tampering and frame loss
Sensor Plausibility Check
Range checks + multi-source cross-validation; abnormal inputs automatically fall back to safe defaults
Torque Rate Clamping
Automatically limits torque change rate when sudden torque changes exceed thresholds, preventing power shocks
Hardware Safety Cutoff
STO hardware torque cutoff — millisecond-level power disconnection under collision / overvoltage / overtemperature / overcurrent
Black-Box Fault Traceability
Full data recording of 5s before and 2s after faults, with power-loss persistent storage
Four-Level Fault Degradation
Level 1 Degradation
Power Limitation
Maximum torque reduced to 50%, speed limited to 50km/h
Level 2 Degradation
4WD to 2WD
Only rear-axle motors operate, ensuring basic driving capability
Level 3 Degradation
Limp-Home Mode
Torque capped at 30%, speed limited to 20km/h
Level 4 Degradation
Safe Shutdown
Torque ramps down to zero, brakes lock — complete risk elimination
ASIL-B Certification Deliverables
07 / TOOLCHAIN
iRockBuilder Integrated Toolchain
Covers configuration, modeling, calibration, diagnostics, debugging and OTA across the entire R&D workflow — free from fragmented foreign toolchains and high licensing fees.
iRockConfig Visual Configuration Tool
Visual configuration of hardware pins, OS parameters, DTC codes and component tailoring, with automatic low-level code generation
iRockModel Modeling Tool
Compatible with Simulink/Stateflow, supporting algorithm modeling, state machine design and one-click code generation
iRockCal Online Calibration Tool
CAN FD real-time parameter tuning, calibration file import/export, visual parameter management
iRockDiag Diagnostics Tool
UDS diagnostic interaction, DTC read/write/clear, black-box data parsing, bus log capture and replay
FinSH Kernel Debug Terminal
Real-time debugging of low-level tasks, motor status, fault information and system modes
iRockOTA Update Tool
Delta packaging, breakpoint resume, update verification, remote version management
08 / EDITIONS
OS Edition Tiers
Lite Edition
Education, basic rehabilitation devices
Basic 2WD/4WD control without active suspension, low-cost and accessible
Standard Edition
Industrial and research scenarios
Full chassis control + basic safety capabilities, standalone operation
Professional Edition
High-end rescue and military scenarios
Full functional safety + black-box traceability + OTA updates
Enterprise Distributed Edition
Large-scale project cluster deployment
Multi-controller clusters, multi-robot formation coordination
09 / PRODUCT MATRIX
Product Matrix
| Model | Positioning | OS Configuration | Target Clients |
|---|---|---|---|
| Ranger X1 | Professional Rescue Robot | OS Professional + rescue-dedicated components | Fire departments, emergency rescue agencies |
| Scout X2 | Military Reconnaissance Robot | OS Professional + formation + low-latency video transmission | Defense research institutes, military industry partners |
| Inspector X3 | Industrial Inspection Robot | OS Standard + inspection sensing components | Power, oil & gas, mining enterprises |
| Explorer X4 | Outdoor Scientific Surveying Platform | OS Standard + SLAM surveying components | Geological and environmental research institutes |
| Rehab X5 | Smart Rehabilitation Wheelchair | OS Lite + balance control components | Rehabilitation hospitals, elderly care institutions |
| Educator X6 | Education & Research Development Platform | OS open-source Lite + simulation interfaces | Universities, vocational colleges, competition teams |
10 / ROADMAP
24-Month Development Roadmap
Foundation Prototype Phase
Complete OS low-level architecture implementation with basic functionality available
- Dual-core safety kernel development, MPU isolation, mixed-criticality scheduling implementation
- Standardized HAL hardware abstraction layer with full 40-pin peripheral support
- Communication, diagnostics, chassis core services and basic VFB bus
- Deliver OS Lite prototype, basic configuration tools and first-generation test units
Standardization & Production Phase
Architecture standardization, toolchain closure, production readiness
- Six-layer architecture fully standardized, aligned with AUTOSAR interface specifications
- Full iRockBuilder toolchain launch and iteration
- ASIL-B safety documentation and full-vehicle reliability testing
- Modular component rollout across six product lines, delivering engineering production samples
Commercialization & Ecosystem Phase
Certification achieved, ecosystem established, scaled commercial profitability
- Distributed cluster and multi-robot formation advanced feature development
- Pass TÜV ASIL-B SEooC operating system certification
- Open standardized APIs, build developer ecosystem
- Full product line mass production, launch OS external licensing and custom development business
11 / MARKET
Market Opportunities
Domestic Substitution Demand
Military, emergency and industrial sectors must not rely on overseas closed-source software — a huge gap for domestic autonomous OS
Safety Compliance Demand
High-end unmanned equipment mandatorily requires ISO 26262 functional safety certification; industry compliance thresholds keep rising
Standardization Demand
Severe industry software fragmentation and lack of a unified low-level foundation constrain scaled mass production
Scenario-Specific Demand
General vehicle OS cannot fit off-road, wheel-leg and multi-robot formation scenarios — a dedicated OS holds exclusive barriers
Competitive Benchmarking
| Competitor | Strengths | Weaknesses | iRockRider Edge |
|---|---|---|---|
| Boston Dynamics | Mature motion algorithms, high brand recognition | Extremely high price, closed software, no native active suspension support, no standardized OS foundation | Open and customizable, fits all scenarios, high cost-performance, supports batch production |
| ANYbotics | Strong industrial inspection reliability, many deployment cases | Single function, no off-road 4WD capability, no multi-mode chassis control | Native 4WD + active suspension + formation coordination, broader scenario coverage |
| Commercial AUTOSAR Platforms | Complete general automotive standards, mature ecosystem | High licensing cost, no native special-chassis services, fragmented toolchain, long adaptation cycles | Scenario-dedicated foundation, integrated toolchain, zero licensing fees, rapid iteration |
| Domestic Small & Mid Vendor Fragmented Software | Low hardware cost, flexible delivery | No self-developed OS, no functional safety system, fragmented architecture, no production certification capability | Standardized layered architecture, ASIL-B compliant, production-ready, licensable, reusable |
12 / BUSINESS
Commercialization Model
Four combined revenue models, from hardware cash flow to high-margin software licensing.
Complete Hardware Sales
Sales of six robot series as complete units — the core baseline cash flow
OS Software Licensing
Tiered perpetual OS licenses for third-party robot manufacturers — high-margin, asset-light revenue
Industry Custom Development
Dedicated feature customization and integrated hardware-software development for military, emergency and industrial clients
Annual Subscription Services
Technical support, OS version upgrades, calibration & diagnostics training, value-added data analytics
Long-Term Strategy
Platform Generalization
Expand multi-chip platform adaptation, break single-hardware dependency, build a universal OS foundation for special mobile equipment
Compute Upgrade
Add AP-level intelligent compute layer, support in-vehicle large models and local AI inference for advanced intelligent unmanned equipment
Ecosystem Scaling
Improve the developer platform, build an app store, form an industry hardware-software ecosystem loop
Industry Standardization
Drive co-building of industry standards for wheel-leg off-road robot low-level control, establishing industry leadership
Market Globalization
Leverage technical cost-performance advantages to expand overseas special robot markets, building a domestic OS brand
One OS Foundation, Powering All-Domain Equipment
An automotive-grade all-domain RTOS — the standardized software foundation for special mobile equipment.