ROCKRIDERVCU · VERTICAL INTEGRATION
3-in-1 SmartControl Unit
Vehicle Control Unit (VCU) + Battery Management System (BMS) + communication module deeply integrated on a single board — Renesas RA8P1 Cortex-M85 1GHz MCU with Ethos-U55 NPU delivering 256 GOPS of AI compute, ≤2ms control response, ASIL-B functional safety.
01 / HARDWARE SPEC
Hardware Spec
Main Control Chip
Renesas RA8P1 (R7KA8P1) AI Accelerated MCU
Core Architecture
Dual-core: Cortex-M85 @1GHz + Cortex-M33 @250MHz
AI Acceleration
Ethos-U55 NPU · 256 GOPS @500MHz
Computing Performance
7300+ CoreMarks · Helium Vector Extension
On-Chip Resources
2MB SRAM (TCM + 64KB Cache) · ECC Error Checking and Correction
Security Features
TrustZone Security Isolation + Hardware Encryption
Network Interface
2-Port Gigabit Ethernet Switch (TSN)
Automotive Interface
2-Channel CAN-FD + 5-Channel Differential ADC
Wireless Communication
WiFi + BLE / 4G/5G DTU
Remote Protocol
MavLinkV2 + PX4 Compatible System
Video Transmission System
H.264/H.265 · RTMP/RTSP · ≤100ms
Operating System
RT-Thread Real-Time Operating System (Titan Board Platform)
Expansion Interface
4×UART / 3×SPI / 2×I2C / ETH / SAI / DCMI
Debug Interface
On-board debugger + Type-C USB OTG
02 / PERFORMANCE
Performance
Control Response Time
1GHz Cortex-M85 real-time guarantee
NPU AI Compute
Ethos-U55 neural network acceleration
Sensor Sampling Rate
2MB ECC SRAM high-speed buffer
Motor Control Precision
Helium vector extension acceleration
System Stability
M85 + M33 dual-core redundant architecture
Driving Modes
Intelligent all-terrain mode switching
03 / ARCHITECTURE
Three-Layer Intelligent Architecture
Top: Decision / Middle: Perception+Control / Bottom: Platform
Decision Layer
AI motion planning (NPU 256 GOPS acceleration) · Autonomous obstacle avoidance · 9 driving modes for intelligent switching, providing real-time optimal decision-making for the whole vehicle.
- AI Motion Planning and Trajectory Generation
- Multi-Objective Autonomous Obstacle Avoidance
- Intelligent Switching Between 9 Driving Modes
Perception Layer
Multi-modal fusion perception (vision / radar / IMU), builds surrounding environment model in real time, identifies terrain and obstacles.
- Vision / Radar / IMU Fusion
- Real-Time Environment Modeling
- Terrain Semantic Segmentation
Control Layer
Wheel-leg adaptive braking, ≤2ms control response, 0.5-second wheel-leg mode switching, millisecond-level coordination of four independent wheel motors.
- Wheel-Leg Adaptive Braking ≤2ms
- 0.5 Second Wheel-Leg Mode Switching
- Four-Wheel Independent Motor Coordination
Platform Layer
iRockRider full-stack platform covers four terminals, multi-tenant architecture, remote diagnosis and OTA firmware dual-partition upgrade.
- Four-terminal Coverage (App/Mini Program/PC/Backend)
- Remote Diagnosis and Telemetry
- OTA Dual Partition Upgrade
04 / CONNECTIVITY
Connectivity & Interfaces
Full-chain connectivity from in-vehicle buses to cloud telemetry — keeping chassis, cloud platform and operator in real-time sync.
AUTOMOTIVE BUS
Vehicle Bus
2 channels of CAN-FD high-speed bus + 5 channels of differential ADC, directly connected to motor controllers, BMS and sensor arrays.
TSN ETHERNET
Industrial Ethernet
2-port Gigabit Ethernet switch, supports TSN Time-Sensitive Networking, ensures real-time synchronization of multiple devices.
WIRELESS
Wireless Communication
WiFi + BLE near-field connection, 4G/5G DTU remote transparent transmission, automatic degraded caching in signal-less areas.
TELEMETRY
Remote Protocol
MavLinkV2 + PX4 compatible system, standard ground station protocol plug-and-play, supports secondary development.
VIDEO LINK
Video Transmission System
H.264/H.265 hardware encoding, RTMP/RTSP dual protocol streaming, end-to-end delay ≤100ms.
EXPANSION
Expansion Interfaces
4×UART / 3×SPI / 2×I2C / ETH / SAI / DCMI, supports free expansion of robotic arms, gimbals and sensors.
05 / SOFTWARE
Software & Dev Ecosystem
RT-Thread Real-Time Operating System
RTOS
Natively built based on RT-Thread Titan Board platform, microsecond-level task scheduling, rich open-source ecological components.
OTA Dual Partition Upgrade
OTA
Firmware A/B dual-partition silent upgrade, automatic rollback on failure, continuous evolution of vehicle functions.
Nine-Layer Modular Architecture
ARCH
Full-stack self-developed nine-layer software architecture, 600,000 lines of AI-assisted programming code, 100% independent intellectual property rights for core algorithms.
Open SDK
SDK
SDK repository is continuously improved, complete with supporting development documents and sample projects, supports university research and secondary development.
DRIVING MODES
Driving Mode Matrix
Nine driving modes cover full scenarios from economy cruise to extreme maneuvering, with 50km/h high-speed safety lock ensuring safe mode transitions.
| ID | Code | Mode | Torque Distribution | Speed Limit | Features |
|---|---|---|---|---|---|
| 0 | 2WD-F | Front-Wheel-Drive Eco Mode | 100 : 0 | 80 km/h | Maximum range, ideal for urban cruising |
| 1 | 2WD-R | Rear-Wheel-Drive Sport Mode | 0 : 100 | 80 km/h | Engaging handling with direct power response |
| 2 | 4WD-F | 4WD Fixed Mode | 50 : 50 | 80 km/h | Stable traction for all terrains |
| 3 | 4WD-D | 4WD Dynamic Mode | 0~100 Dynamic | 80 km/h | TVC yaw stability control with intelligent distribution |
| 4 | SNOW | Snow Mode | 40 : 60 | 50 km/h | Early TCS intervention with soft torque delivery |
| 5 | MUD | Mud Mode | 30 : 70 | 30 km/h | Electronic differential lock for high-torque recovery |
| 6 | CRAB | Crab Mode | 50 : 50 | 5 km/h | Lateral movement for tight-space maneuvering |
| 7 | SPOT | Spot Turn | ±50 : ∓50 | 0.5 km/h | Zero-radius turning for extreme maneuverability |
| 8 | WHEEL | Wheelchair Mode | 50 : 50 | 10 km/h | Brake-on-release for accessible mobility |
50km/h High-Speed Safety Lock (ASIL-B)
- Switching to Crab/Spot Turn mode is prohibited at speeds ≥50 km/h
- Switching from 2WD/4WD normal modes to special modes is prohibited
- Switching between normal modes allowed; torque transition time doubled to 1000 ms
- In special modes, exceeding 5 km/h automatically reverts to 4WD Fixed
07 / STATE MACHINE
State Machine & Fault Safety
A six-state finite state machine drives the vehicle lifecycle. Combined with the four-level fault degradation strategy, any sensor, actuator or communication anomaly triggers controlled degradation to protect people and equipment.
OFF
System fully powered down, only RTC maintained
INIT
Power-on self-test, sensor/actuator calibration
READY
All subsystems normal, awaiting drive command
DRIVE
Normal drive control, all functions available
LIMP
Degraded operation due to fault, limited to 30 km/h
FAULT
Critical fault, power output cut off
| From | To | Condition |
|---|---|---|
| OFF | INIT | Key/remote wake-up |
| INIT | READY | Self-test passed |
| INIT | FAULT | Self-test failed (critical) |
| READY | DRIVE | Gear shift + throttle |
| DRIVE | READY | Stop + park |
| DRIVE | LIMP | Non-critical fault |
| LIMP | DRIVE | Fault recovered |
| LIMP | FAULT | Fault escalated |
| DRIVE | FAULT | Critical fault |
| FAULT | OFF | Manual reset / tow to service |
Four-Level Degradation Strategy
L1
Power Limitation
Max torque limited to 50%
Reduced power output, basic mobility maintained
Max speed 50 km/h
L2
2WD Rear Drive
Only rear-axle dual motors active
Single-axle drive, reduced energy use and failure points
Front drive disabled
L3
Limp Mode
Max torque 30%
Strict speed limit, ensures mobility to safe area
Max speed 20 km/h
L4
Safe Stop
Torque ramped down to 0
Controlled stop, prevents secondary accidents
Electronic parking brake applied
08 / CALIBRATION
Calibration Parameters
Factory calibration parameters with adjustable ranges, supporting online adjustment and OTA updates.
Torque Control
Max Total Torque
0-400
240 Nm
Max Single-Motor Torque
0-100
60 Nm
Torque Response Rate
100-5000
1000 Nm/s
Max Regen Braking Torque
0-150
80 Nm
TCS Intervention Threshold
3-20%
8%
Driving Modes
Mode Switch Transition Time
100-2000
500 ms
High-Speed Lock Threshold
30-80
50 km/h
Crab Mode Max Speed
2-15
5 km/h
Spot Turn Max Speed
0.1-2
0.5 km/h
Safety Thresholds
Bus Overvoltage Threshold
55-70
60 V
Bus Undervoltage Threshold
30-45
36 V
Motor Overtemperature Threshold
100-150
120 ℃
MOSFET Overtemperature Threshold
70-100
85 ℃
CAN Watchdog Timeout
500-5000
1000 ms
Active Suspension
Max Suspension Torque
1-10
5 Nm
Max Suspension Height
100-200
150 mm
Min Suspension Height
50-120
80 mm
Position Control Accuracy
±0.1-±2
±0.5 mm
Height Adjustment Speed
5-50
20 mm/s
09 / DEBUG
FinSH Debug Commands
Real-time VCU system status monitoring and control via FinSH debug interface.
| Command | Description |
|---|---|
| mode_list | List all supported driving modes |
| mode_get | Show current driving mode |
| mode_set | Switch to specified driving mode |
| torque_show | Show real-time torque of all four wheels |
| motor_status | Show single/all motor status |
| suspension_config | Set suspension hardware configuration mode |
| suspension_couple | Set suspension pairing control mode |
| suspension_height | Set uniform vehicle height |
| fault_list | List all active faults |
| fault_clear | Clear specified/all faults |
| can_show_status | Show CAN bus status |
| vcu_status | VCU system overall status |
| limp_enter | Force entry into limp mode |
| limp_exit | Exit limp mode |
10 / RELIABILITY
Automotive-Grade Reliability
From chip-level ECC and TrustZone isolation to M85+M33 dual-core redundancy and the ASIL-B process — RockRiderVCU is engineered to automotive standards.
Functional Safety Certification
ASIL-B
Automotive-grade safety level design
Memory Check
ECC
2MB SRAM full-link data protection
Safety Isolation
TrustZone
Hardware-level trusted execution environment
Redundant Architecture
Dual-Core
M85 main control + M33 safety monitoring
Kilometers of Real-World Testing
8000+
Whole vehicle all-terrain long-term test verification
Localization Rate (Domestic Content Rate)
95%
Core components are independently controllable
11 / MODULES
Core Control Modules
Nine core modules from high-priority attitude calculation to auxiliary chassis control, covering perception, decision, control and communication.
M01
Torque Coordinator
Four-wheel torque distribution with TVC+ vector control, supporting 9 driving modes
M02
State Estimator
EKF fusion of IMU/GPS/wheel speed, real-time 15-dimension state vector estimation
M03
Energy Manager
SOC/SOH estimation, charge/discharge strategy, energy recovery control
M04
Thermal Manager
Motor/battery/controller temperature monitoring, liquid cooling system scheduling
M05
Fault Diagnostician
DTC code management (P0/C0/B0/U0), fault level classification
M06
Communication Gateway
CAN0/CAN1 dual-bus routing, UDS diagnostic protocol handling
M07
Safety Monitor
ASIL-B functional safety, watchdog + redundant checks + safe state switching
M08
Wheel-Leg Coordinator
Wheel/leg mode switching control, 0.5s fast transition
M09
Remote Control Interface
5G/V2X remote driving command access, latency <20 ms
12 / RESOURCES
System Resource Utilization
Fine-grained budget management of 8MB Flash and 1MB SRAM, reserving ample space for future features and model deployment.
Flash (Code+Data)
3.2 MB / 8 MB
40%
SRAM (Runtime)
384 KB / 1 MB
37.5%
ITCM (Critical Code)
192 KB / 256 KB
75%
DTCM (Critical Data)
128 KB / 256 KB
50%
HyperRAM (AI/Logs)
12 MB / 32 MB
37.5%
13 / PRODUCT SERIES
Product Series Roadmap
Six wheel-legged robot product series derived from the VCU platform, covering rescue, reconnaissance, inspection, exploration, rehabilitation and education.
X1
Ranger
Professional Off-Road Rescue Robot
Professional wheel-leg robot for disaster rescue and emergency response
Core Functions: Life detection, supply transport, communication relay
Target Clients: Rescue agencies, emergency management departments
X2
Scout
Military Reconnaissance Robot
High-stealth battlefield reconnaissance platform with strong off-road capability
Core Functions: Covert reconnaissance, hazardous area detection, autonomous navigation
Target Clients: Defense and security departments
X3
Inspector
Industrial Inspection Robot
24/7 unattended intelligent inspection of industrial facilities
Core Functions: Automatic inspection, fault diagnosis, data collection
Target Clients: Power, oil & gas, and mining enterprises
X4
Explorer
Outdoor Exploration Robot
Scientific exploration and remote operation platform for extreme environments
Core Functions: Terrain mapping, environmental monitoring, remote operation
Target Clients: Research institutions, expedition teams
X5
Rehab
Medical Rehabilitation Wheelchair
Intelligent balance assistance and all-terrain accessible mobility solution
Core Functions: Intelligent control, balance assistance, stair-climbing capability
Target Clients: Medical institutions, people with disabilities
X6
Educator
Education & Research Platform
Open-source robotics teaching and algorithm research platform
Core Functions: Open-source interfaces, secondary development, teaching experiments
Target Clients: Universities, vocational colleges
14 / ROADMAP
Technology Roadmap
Three-phase technology evolution from prototype to mass production.
Short-Term Goals
Months 1-6
- Wheel-leg mechanism design and modeling
- VCU platform adaptation and drive mode expansion
- LiDAR/vision sensor integration
- Basic SLAM and path planning
- Wheel-leg coordinated control algorithm
- Prototype comprehensive environment testing
Mid-Term Goals
Months 7-12
- Deep multi-sensor fusion
- Lane keeping and adaptive cruise control
- Life detection and communication relay
- Dynamic balance and stair climbing
- Terrain mapping and environmental monitoring
- Reliability testing and industry certification
Long-Term Goals
Months 13-24
- Deep learning environment understanding
- Multi-robot formation and task allocation
- Local AI inference and low-latency response
- 5G high-speed data transmission
- Industry solution deployment
- API openness and developer platform
APPLICATIONS · MODELS
One "Brain"Drives Four Product Lines
VERTICAL INTEGRATION
Four Core ComponentsFull-Stack In-House System
Vertical integration across motor, motor control, vehicle control and battery — breaking dependence on outside suppliers, so every all-terrain machine owns its "heart" and "brain".
Axial Flux Motor
Power Density Target · 20 kW/kgNext-generation electric drive technology, power density reaches 3-5 times that of traditional motors, volume is halved, focusing on the blank market of 5-30kW low power range.
- YASA Structure + Coreless PCB Winding
- SMC Soft Magnetic Composite Core
- Low Speed High Torque, Direct Drive Wheel-Leg Chassis
Motor Controller
Peak Efficiency · ≥ 98%Self-developed positionless sensor FOC vector control, MTPA + flux-weakening speed expansion algorithm, 48-72V low-voltage platform, reserved SiC upgrade path.
- FOC + MTPA + Flux Weakening Control Algorithm
- Domestic IGBT Modules, Independently Controlled
- ISO 26262 ASIL-B Design Goal
Vehicle Controller
Deep Integration · Five-in-OneIntegrates five core functions: vehicle control, BMS coordination, motor cooperation, remote monitoring and safety protection, replaces distributed controller groups and reduces wiring harness by 60%.
- Energy Management + Multi-Motor Torque Distribution
- OTA Remote Upgrade and Fault Diagnosis
- 4G/5G Cloud Data Interaction
Power Battery PACK
System Energy Density · 180 Wh/kg21700 lithium iron phosphate / high-nickel ternary dual chemistry, IP67 protection, capacity retention ≥80% after 2000 cycles, -20°C low-temperature self-heating.
- 21700 Dual-Chemistry Architecture Approach
- IP67 Protection + 2000 Cycles
- -20°C Low Temperature Self-Heating Technology
17 / MARKET
Market Analysis
Target market size and growth forecast based on public industry research data.
Rescue Robots
$2.8B
CAGR 18.5%
25%
Industrial Inspection
$4.2B
CAGR 15.2%
30%
Military Equipment
$6.5B
CAGR 12.8%
20%
Medical Rehabilitation
$3.1B
CAGR 22.3%
35%
Education & Research
$1.5B
CAGR 10.5%
40%
Outdoor Exploration
$0.8B
CAGR 9.2%
28%
18 / RISK
Risk Management
Comprehensive risk identification and mitigation strategies for robust project execution.
Technical Risk
Technology Maturity Risk
Insufficient product reliability, poor customer experience
Rigorous testing and validation, phased deployment
Algorithm Performance Risk
System response delay, insufficient control accuracy
Continuous algorithm optimization, hardware acceleration
Sensor Fusion Accuracy
Accumulated positioning errors, degraded navigation accuracy
Multi-sensor redundancy design, continuous algorithm optimization
Power Management Risk
Insufficient range, degraded user experience
Energy optimization algorithms, smart sleep strategy
Market Risk
Intensified Market Competition
Price wars, declining market share
Differentiated positioning, continuous innovation
Market Demand Changes
Reduced product fit, inventory buildup
Agile development, rapid iteration response
Cost and Price Pressure
Declining profitability, tight cash flow
Supply chain optimization, product value enhancement
Policy and Regulation Changes
Market access barriers, rising compliance costs
Pre-emptive certification, real-time policy tracking
Operational Risk
Supply Chain Disruption
Production halt, delayed order delivery
Multi-supplier strategy, safety stock management
Key Talent Loss
Technology gap, R&D schedule delays
Equity incentives, career development paths
Funding Chain Break
Stalled business expansion, R&D interruption
Multi-channel financing, strict cash flow management
Product Quality Issues
Damaged brand reputation, customer loss
Strict quality control, rapid response mechanism
The BrainBehind Every Machine
A 3-in-1 smart control unit defining the next-generation all-terrain mobility platform.