BAJA SAEINDIA 2024 - IPG CarMaker Guidelines (mBAJA + eBAJA)

Foreword
BAJA SAEINDIA successfully conducted the first ever virtual event in the event’s entire history, amid unprecedented
circumstances due to the pandemic in 2021 season. As a part of it, dynamic events were also conducted virtually with the
onboarding of IPG Automotive and Automotive Test Systems (ATS) as one of the prime sponsors of the event.
Continuing this concept of Virtual Dynamic Events further, and under this partnership, each team participating in BAJA
SAEINDIA 2024 has been provided a set of 5 licenses of IPG CarMaker which shall remain valid till the end of this season.
IPG CarMaker is a leading automotive testing solution used extensively by global automakers.
Virtual Dynamic Events of BAJA SAEINDIA 2024 will be conducted using IPG CarMaker. Vehicle modelling (in compliance
with the BAJA SAEINDIA 2024 rulebook), driver & driving maneuver parameterization is possible with IPG CarMaker.
Thus, this shall provide an all-round learning opportunity to the teams in designing & testing their vehicles at par with global
automakers.
Teams need to submit the design spec sheet of their vehicle, which should match with the vehicle data set values to be
defined into the IPG CarMaker. The deadline & format of design spec sheet is shared on the BAJA SAEINDIA forum. All
the values to be defined by the teams in IPG CarMaker must have proper justification with respect to the team’s vehicle
design, which might be asked to be produced for review by BAJA SAEINDIA judges at any point of time during the event.
Any teams found insufficient in justifying the specified values for their vehicle shall be penalized.
With a purpose to give an insight about IPG CarMaker, BAJA SAEINDIA Organizing Committee has decided to
release the following set of guidelines which will be applicable only for mBAJA and eBAJA event formats. The
guidelines consist of four main areas – workspace setup, vehicle modelling, driver and driving maneuver parameterization.
The information in this document is furnished for informational use only, BAJA SAEINDIA assumes no responsibility for
any errors or inaccuracies (including those related to the values shown in the images) related to the software, that may
appear in this document.
Teams might require IPG CarMaker manuals for reference, multiple times while using the software. Hence, the following
list of all the key manuals has been provided stating the use of each document, for ease of reference by the teams. All the
manuals can be accessed from the ‘Help’ option available in the IPG CarMaker GUI.
Sr.No. IPG Ref. Manual Name Usage

For CarMaker General Info., System Requirements, Compatibility to third-party
1 Release Notes
tools, new features, Upgrading the files from prev. version to new one
Initial reference file/tutorial to get acquainted with the software interface & basic IPG
2 Quick Start Guide
CarMaker knowledge
Explanation of all the options & features accessible through the Graphical User
3 User's Guide
Interface (GUI)
Technical background of the models (vehicle, suspension, tires, etc.) & various
4 Reference Manual
interfaces used in IPG CarMaker
5 Programmer’s Guide Programming the IPG CarMaker software package
Technical background of the models (vehicle, suspension, tires, etc.) & various
Kinematics –
6 interfaces used in IPG Kinematics (Can be accessed from ‘Help’ option in IPG
Reference Manual
Kinematics GUI)
7 Installation Guide For IPG CarMaker installation
Description of IPG Driver (Tool used to add the control actions like steering, braking,
8 IPG Driver gas pedal position, etc. of human driver to complete vehicle simulation) interface in
detail
9 IPG Movie Description of IPG Movie interface in detail
Description of IPG Control (Online data visualization tool to inspect time dependent
10 IPG Control behaviour of certain physical quantities of vehicle during simulation) interface in
detail
Teams are advised to read the IPG CarMaker guidelines thoroughly!!

Contents
PART A: IPG CarMaker & IPG Kinematics Software and Workspace Setup....................... 4
A.1 – IPG CarMaker & IPG Kinematics Installation ........................................................... 4
A.2 – IPG CarMaker – Project Workspace Setup............................................................... 4
PART B: VEHICLE MODELLING in IPG CarMaker ................................................................ 8
B.1 – VEHICLE DATA SET GENERATOR ........................................................................... 8
B.2 – ASSEMBLY................................................................................................................. 9
B.2.1 – Coordinate Frames.............................................................................................. 9
B.2.2 – Configuration....................................................................................................... 9
B.2.3 – Engine Mount (Only for mBAJA teams) ............................................................. 9
B.2.4 – Body ................................................................................................................... 10
B.2.5 - Chassis ............................................................................................................... 10
B.2.6 – Powertrain ......................................................................................................... 10
B.2.7 – Trim Loads ......................................................................................................... 11
B.2.8 – Sensor Mountings ............................................................................................. 12
B.3 - BODY ......................................................................................................................... 12
B.3.1 Structure ............................................................................................................... 12
B.3.2 - Outer Shell .......................................................................................................... 13
B.3.3 – Aerodynamics ................................................................................................... 16
B.4 – SUSPENSIONS ......................................................................................................... 16
B.4.1 – Control Unit ....................................................................................................... 16
B.4.2 – Spring................................................................................................................. 17
B.4.3 – Parasitic Effects ................................................................................................ 17
B.4.4 – Damper............................................................................................................... 18
B.4.5 – Buffer ................................................................................................................. 18
B.4.6 - Stabilizer ............................................................................................................. 18
B.4.7 – Kinematics ......................................................................................................... 19
B.4.7 – Compliance & External Forces ......................................................................... 33
B.4.8 – Wheel Bearing Friction ..................................................................................... 33
B.5 – STEERING ................................................................................................................ 34
B.6 – TIRES ........................................................................................................................ 34
B.6.1 – Selection of the tire file from Vehicle Data Set ................................................ 34
B.6.2 – Editing the tire model ........................................................................................ 35
B.7 - BRAKE ...................................................................................................................... 40
B.7.1 – General............................................................................................................... 40
B.7.2 – Control (only for eBAJA) .................................................................................. 40
B.7.3 - System ................................................................................................................ 40
B.8 – mBAJA POWERTRAIN (Only for mBAJA teams)................................................... 41
B.8.1 – DRIVE SOURCE ................................................................................................. 41
B.8.2 – DRIVELINE ......................................................................................................... 47
B.8.3 – POWER SUPPLY ............................................................................................... 48
B.8.4 – CONTROL UNIT ................................................................................................. 48
B.9 – eBAJA POWERTRAIN (Only for eBAJA teams) ..................................................... 49
B.9.1 – GENERAL .......................................................................................................... 49
B.9.2 – DRIVE SOURCE ................................................................................................. 49
B.9.3 – DRIVELINE ......................................................................................................... 53
B.9.4 – POWER SUPPLY ............................................................................................... 54
B.9.5 – CONTROL UNIT ................................................................................................. 56
B.10 - Sensors ................................................................................................................... 59
PART C: DRIVER PARAMETERIZATION ............................................................................. 60
C.1 - Overview of IPG Driver ............................................................................................. 60
C.2 - User Parameterized Driver & Traffic........................................................................ 60
C.3 – Driver Presets .......................................................................................................... 61
PART D: DRIVING MANEUVER PARAMETERIZATION....................................................... 61
PART A: IPG CarMaker & IPG Kinematics Software and Workspace Setup
A.1 – IPG CarMaker & IPG Kinematics Installation
Kindly follow the following steps to install the software:

1. Please find the link below to download the installation files and proceed to the next step:
 IPG CarMaker [Version 11.1] – https://bit.ly/IPG_CarMaker_11_1
 IPG Kinematics [Version 3.6.11.1] – https://bit.ly/IPG_Kinematics_3_6
2. Extract both the downloaded zip folders and run the ipg-install.exe file separately from both the folders – first for the
CarMaker installation & then Kinematics.
3. Post-installation of the software, copy the license file provided to the teams via. mail (ensure it is named as
Licenses.dat) and paste it in the "C:IPG/etc" folder.
The license is activated after these 3 steps and the teams can now start using IPG CarMaker & IPG Kinematics
software.
Note:
1. If an older version of IPG CarMaker has been pre-installed, then please uninstall the same and install the above given
Version 11.1 of IPG CarMaker & then reinstall IPG Kinematics - Version 3.6.11.1 even if it has been already installed.
2. Throughout the period of this year’s Virtual Dynamic Events (VDE), IPG CarMaker – Version 11.1 & IPG Kinematics
– Version 3.6.11.1 should be used by the teams in creating their vehicle model, maneuvers & driver, as well as for
the submissions related to VDE, in order to avoid any discrepancy in the vehicle performance.
A.2 – IPG CarMaker – Project Workspace Setup
1. Prior to modelling a vehicle simulation in IPG CarMaker, teams must create a hierarchical project folder structure and
setup their workspace.
2. Create a central folder called “CM_Projects” and add every new project to this folder.
3. Ensure the project folder is not placed inside the CarMaker installation directory.Instead, it is recommended to create the
"CM_Projects" folder within the C:\ directory.
4. The recommended structure is for teams to get started with the software and make simulation files, which distinguish
IPG CarMaker software files and files designed by teams (Eg - Vehicle model, Testrun, etc). Teams are advised to
setup their project workspace in the following format -
5. The naming convention should be followed for all components, regardless of whether they are mentioned in the above
structure. For instance, if a team uses 3D objects files for tires they have to name it as TeamID_TeamName_Tire.obj.
6. In case of renaming the files externally, the renamed files must be linked through the IPG CarMaker software. It is
recommended to rename files, if necessary, through the software interface, by locating the file through GUI, right clicking
and selecting rename to enter the new file name.
Note - Refrain from deleting the remaining folders like bin, doc, include, lib, MovieNX, Plugins, SimInput, SimOutput which
are created by default while new project folder creation. Deleting the above-mentioned folders may lead to file linking issues
during simulations.
PART B: VEHICLE MODELLING in IPG CarMaker
Important Note:
1. It is recommended to first go through the IPG CarMaker ‘Quick Start Guide’ thoroughly, before reading this
document further and begin using IPG CarMaker effectively.
2. The teams are allowed to use User C-Code / Simulink Plug-in / FMU, for modelling their sub-systems if they
want to in IPG CarMaker, more information on which can be found out in IPG CarMaker Reference Manual &
Programmer’s Guide.
3. In this document, parametric values for mBAJA Engine & Fuel Tank have been specified, which shall be fixed
for all the mBAJA teams.
4. Similarly, the Driver weight has been specified as 75 kg, which is to be kept constant by all the mBAJA & eBAJA
teams.
5. Furthermore, certain constraints have been stated in vehicle modelling, Driver & Maneuver parametrization,
and the teams are expected to model their vehicle, driver & maneuver within those constraints for the Virtual
Dynamic Events.
6. Any team/s seen deviating from the given constraints, and the fixed parameters wherever applicable, shall face
penalty in their overall scores, decision on which shall be taken by the BAJA SAEINDIA Organizing Committee
and remain binding to the concerned teams.
7. The parametric values mentioned in all of the figures in this document are for visualization purpose only, and
do not reflect those of an actual BAJA vehicle, unless otherwise specified. Hence, it has to be duly noted that
these are not to be considered/referred to by the teams for their individual vehicle modelling.
B.1 – VEHICLE DATA SET GENERATOR
 Vehicle Data Set Generator is used to create an elementary Data Set and define a reference vehicle, before starting
the vehicle modelling. After generating this reference vehicle as per the parameters fed into the Generator, you have to
further go into the Vehicle Data Set to define the values for each sub-system as per your design. This new vehicle
model as per all the sub-systems defined in Vehicle Data Set will be used for simulation, and the data in Generator is
overridden. Hence, the parameters put in here have no significance as such for simulating a BAJA vehicle.
 Basic Settings > For initial modelling, select small car, input vehicle parameters as per the actual vehicle design, and
leave the tire size, vehicle data set, and graphics as default.
 Advanced settings > Put Engine values as per the above dialog box, leave aerodynamics as default and feed the other
parameters as per the actual vehicle design.
 Ref. pg. 292-295 of IPG Users Guide
B.2 – ASSEMBLY
 In the Assembly tab the position, orientation and mounting of the different frames, bodies and masses is defined.
 From the ‘Info’ button at the bottom left corner, a synopsis of some of the calculated properties of the entire vehicle
(incl. Centre of Gravity (CoG) of the entire modelled vehicle in IPG CarMaker) can be overviewed.
B.2.1 – Coordinate Frames

 In IPG CarMaker, coordinate systems - called frames - with different origins are defined.
 They are used to simplify calculation and parameterization for CarMaker objects (including signals and variables) and
to be able to represent different points of views for CarMaker objects
 x-axis: Points in driving direction of the vehicle
 y-axis: Points 90 deg. to the left side of the x axis
 z-axis: Points upwards vertically
 Ref. IPG Users Guide pg. 300 - 302 & IPG Reference Manual pg. 23-25.
B.2.2 – Configuration
 To parameterize all the necessary positions of vehicle’s components, CarMaker uses a coordinate system called Fr1
which is linked to the vehicle body. Ref. IPG User’s Guide pg. 300.
 It is recommended to keep the position of reference frame (Fr1) as default - 0,0,0 (x,y,z), for ease of deriving the
positioning of all the other necessary components with respect to the same.
 Here you can also check the Overall mass of the modelled vehicle, with respect to the value of masses defined in the
various sub-systems.
 Ref. pg. 300 of IPG Users Guide.
B.2.3 – Engine Mount (Only for mBAJA teams)
 As per the actual vehicle design, those teams who have developed a rigid mounting for the engine (i.e., placed directly
on the chassis) instead of an elastic mount (with bushings), this tab is to be left as default.
 For the teams with elastically mounted engine, and having the required values of Stiffness & Damping for their bushings,
Generalized Joint Force (force/torque elements located in the joint cumulatively as a combination of all the 4 mounting
points) or 4 explicit Force Elements (4 engine mounting points each with its own force element) can be chosen.
 In the case of defining 4 explicit Force Elements, teams may choose to define the position & orientation of force elements
with respect to FrD (which is basically equal to Fr1 if Fr1 is 0,0,0), and in this case there is no need to define FrEng
position & orientation and it can be left as default as in above figure 0,0,0, which is recommended.
 If the teams want to define Engine Frame, Position & Orientation of Engine CoG (Centre of Gravity) with respect to the
origin of CarMaker vehicle reference frame (Fr1) should be put in here, which will define the Engine Frame - FrEng.
Now according to this new origin (only for certain powertrain components if FrEng is selected as reference frame) that
is the FrEng, the position & orientation of force elements for elastically mounted engine shall be defined.
 Ref. IPG Users Guide pg. 303 - 306 & IPG Reference Manual pg. 123-128.
B.2.4 – Body
 In the Body tab the hitch system as well as the positions of the hitch, jack points and the point of attack of virtual forces
is defined.
 Teams can leave this tab as default.
B.2.5 - Chassis
 Position, Mass & Moment of Inertia of the wheel carriers & wheels should be filled as per the vehicle design. (Ref. pg.
309 - 310 of IPG Users Guide)
 Ref. pg. 300 - 302 of IPG Users Guide for the details of reference frame to be considered for positioning.
B.2.6 – Powertrain
 For mBAJA vehicles, components that are not applicable, such as – Drive Source 1, 2 & 3, and Power Supply, and
Electric Motor & Gearbox M in Drive Source 0 should be kept default.
 For mBAJA teams with Rigid Engine Mount as specified in B.2.2 above, Engine in “Drive Source 0” should also be
left as default. While, for Gearbox (In IPG CarMaker, gearbox means the transmission component coupled immediately
to the next of Engine, e.g., here Gearbox means CVT for vehicles with CVT), its relative position & orientation needs to
be defined, which can be done with respect to Fr1, by selecting Fr1A in the Mounting.
 For eBAJA vehicles, components not applicable such as - Engine & Gearbox in Drive Source 0 should be kept default.
And depending upon the no. of electric motors used in the ePowertrain the remaining data should be entered.
 Ref. IPG Users Guide - pg. 300 - 302 - For details about positioning, orientation, ref. & mounting frame
B.2.7 – Trim Loads
 Any type of additional/extra loads like the driver, can be defined as Trim Loads. In order to improve the traceability,
each Trim load can be defined & named individually.
 All the teams are mandatorily required to define their ‘Driver’ load in place of Trim Load 0. The position and orientation
of CoG of the driver when seated in the vehicle needs to be defined here with respect to the vehicle’s individual design,
with reference to Fr1, by selecting Fr1A in the mounting.
 The Driver weight is fixed for all the teams, and should be defined as 75 kg. Any team found guilty of deviating from
the same shall be penalized.
B.2.8 – Sensor Mountings
 Teams must add new sensor mounting by selecting (+) in Sensor Mountings tab
 Parameterization of the added sensor must be done as follows –
 Name: RD00
 Parameterization: Select Road-Param_RD00 from the dropdown. This option is visible after creation of a new
Sensor in the Sensors tab of Vehicle Data Set. Refer B.10 - Sensors
 Leave rest of the values as default
B.3 - BODY
B.3.1 Structure
 Rigid or Flexible model should be selected depending upon the availability of required data. For teams selecting Flexible
Body, don’t select Manual body split, as it doesn’t apply to a BAJA vehicle.
 For any of the Rigid/Flexible Model, the total of all the sprung masses should be put in here, alongwith their final
collective CoG position & moment of inertia. Please note that the sprung mass of any particular component defined
separately into the vehicle data set, such as Engine, Gearbox & Tank (for mBAJA) or Electric Motor, Gearbox M,
Battery (for eBAJA) and wheel & wheel carrier massed for both mBAJA & eBAJA, should not be included here.
 Ref. pg. 315 - 318 of IPG Users Guide.
B.3.2 - Outer Shell
 For visualization of the vehicle graphics while simulation in IPG Movie, 3D object file of the vehicle should be selected
(.mobj, .obj, .3ds, .dae, .kmz formats are supported).
 Paste the .mobj / .obj / .3ds / .dae / .kmz file in
C:\CM_Projects\TeamID_TeamName\Movie\TeamID_TeamName_Movie
 In Picture field, the preview graphic can be selected. Paste the picture file/s in
C:\CM_Projects\TeamID_TeamName\Data\Pic\TeamID_TeamName_Pic folder & select the same.
 Link to a short OBJ file queries resolution video: OBJ Query Resolution
 Video on creating the OBJ file of the vehicle from CAD model:
https://grabcad.com/tutorials/how-to-convert-solidworks-file-to-obj
B.3.2.1 – Generation of 3D object file
For the visualization process, IPG Movie uses an object file. Teams can either use CAD software to directly save the CAD
model as OBJ / DAE / MOBJ / 3DS / KMZ file or create the object file using 3D designing open-source software. Teams can
use the CAD file of their vehicle, to generate the object file using the software.
Note: If a team generates a DAE file then that file itself carries all the properties of the 3D object file like colour and graphics,
but for OBJ file other files like MTL files are created for colour and graphics. Hence, if a team has created a DAE file, then
only that file is sufficient for copying, but for an OBJ file, ensure that all the supporting files such as MTL files are also copied
into the requisite location as mentioned in Step 6 below.
The document focuses on file generation using 3D designing software. The prerequisites of 3D object file to run in IPG
Movie as mentioned in IPG Quick Start Guide – pg. 97 are:
1. ONLY polygons and triangles, NO splines or free forms.
2. No more than 50,000 nodes.
3. If this option is available while generating the file: generate the normal for all points
4. Colours: Generate the corresponding material file.
Teams may use some of the various open-source software, few of which are mentioned below:
1. CADExchanger
2. Blender
3. Wings3D
4. MeshLab
5. FreeCAD
The steps involved for 3D object file creation are:
1. CAD model generation:

The teams need to generate the CAD model using any CAD software such as SOLIDWORKS or CATIA. It is
recommended to suppress all the components which will not be visible such as the steering rack etc. This reduces the
number of node points of the file and will reduce the file size as well as the graphics requirements to run it in IPG Movie
smoothly.
2. Save as OBJ / DAE / MOBJ / 3DS / KMZ format directly, if available in CAD software or else Save as STL or IGS
format:
While saving as STL file, ensure you have checked the “Save all components in a single” command. Teams are
recommended to add materials in their CAD file. This gives aesthetics appearance to the object file. If the teams fail to
add material files, then their vehicle will be visible in greyscale in IPG Movie. Teams can make refinement here also
based on their requirement. System Options Image shown below is from SOLIDWORKS.
As viewed in IPG Movie – 1) 3D Object file with material file; 2) 3D Object file without material file
3. Open the file in the 3D designing software:

Import the mesh in the software. Teams can use the software of their choice.
4. Refine the file as per the requirements:

Open the STL file in any of the above-mentioned software and make the necessary refinements in the structure or in
the aesthetics. Image shown below is for MeshLab.
5. Save the file as OBJ / DAE / 3DS / MOBJ / KMZ format: Export the mesh and save the file in OBJ / DAE / 3DS /
MOBJ / KMZ format. Image shown below is for MeshLab.
6. Copy the 3D object file (OBJ / DAE / 3DS / MOBJ / KMZ) & MTL file and paste in the designated folder:
Folder Name: C:\CM Projects\<project directory>\Movie
B.3.3 – Aerodynamics
 Aerodynamics model should be set as not specified.

 The values for marker & center of pressure should be left as default.
B.4 – SUSPENSIONS
B.4.1 – Control Unit
 This option enables the teams to send control signals to various force elements of the suspension system based on the
inputs received, as in the case of active suspension system/s.
 Teams can leave it as default, or in the case if the teams have an active suspension system, they can define a control
unit model for the same here.
 Ref. IPG User’s Guide - pg. 323 – 324, & IPG Ref. Manual - pg. 136 – 138.
B.4.2 – Spring
 Stiffness Attributes of Spring modelled as Hookean Spring should be defined for Front & Rear Axle.
 Stiffness Mode - Characteristic Value can be selected if Spring Force is a linear function of Spring Length variation.
Alternatively, select 1D Look-up table to define spring stiffness attributes to reflect the design fidelity of the model.
 Amplification means multiplying factor, which is used to multiply all the values in this tab by the factor specified, for the
ease of carrying out iterations. But at the time of model submission, teams must ensure that Amplification is set as 1.0.
 Ref. pg. 324-325 of IPG Users Guide & pg. 139-144 of IPG Reference Manual.
B.4.3 – Parasitic Effects
 This can be used to calculate a parasitic stiffness force representing the suspension bushing torsion torques along the
bushing rotation axle while wheel travel.
 The teams that don’t have the required values for its parametrization, this model should be selected as not specified.
Teams who don’t have the necessary data required for defining parasitic effects, set amplification as 0.0, so that this
component becomes insignificant in the model.
 Ref. IPG Users Guide – pg. 326 & IPG Reference Manual – pg. 145-148
B.4.4 – Damper
 Select Damper Model - Newtonian Damper OR Newtonian Damper + Top Mount as per design.
 Damping Mode - Characteristic Value can be specified for a single coefficient definition. Alternatively, select 1D Look-
up table to define damping attributes to reflect the design fidelity of the model.
 Ref. IPG Users Guide – pg. 327-328 & IPG Reference Manual – pg. 149-157
B.4.5 – Buffer
 This module sets the characteristics of a buffer which starts restricting the wheel travel when spring is
compressed/extended to a certain length. It acts like an additional parallel spring activated upon reaching a certain
wheel travel.
 As this particular component has seen NIL/limited usage in all the past BAJA events, this part can be left as default.
Hence, for such teams, the Buffer Amplification Values for Front & Rear should be put as 0.0; and Buffer 1 mode should
be selected as not specified, so that it becomes insignificant in the model.
 Although the teams who have designed buffers/bumpers as a part of their vehicle suspension, can parameterize the
same.
 Ref. IPG Users Guide pg. 328-330 & IPG Reference Manual – pg. 158-167.
B.4.6 - Stabilizer
 Teams who have not designed a suspension roll stabilizer / anti-roll bar either for Front / Rear or both, should put
Amplification as zero respectively.
 For the teams who have designed a stabilizer as a part of their vehicle suspension system, characteristic value or 1D
Look-up table for Force vs compression values can be selected, preferably the later one.
Teams who don’t have a stabilizer in their suspension system (Front &/or Rear), set amplification as 0.0, so that this
component becomes insignificant in the model.
 Ref. IPG Users Guide – pg. 331-332 & IPG Reference Manual – pg. 168-173.
B.4.7 – Kinematics
 CarMaker ignores the current geometry of the axle. What CarMaker does know, is the original position of the wheel
(parameterized in the tabs Bodies and Vehicle Body) and the variations of these positions according to the wheel travel
and the steering rack displacement. The position variations are described precisely by the kinematics model. For several
states of wheel compression (and steering rack positions in case of a steered axle) the resulting position of the wheel
center is defined by its translation in x, y, z and rotation around the x, y, z axes in relation to the static state. In addition
to the calculation of the wheel position, the kinematics model also includes the length variation of the spring, damper,
buffer and stabilizer against the same variables (wheel travel and steering rack movement). Knowing these kinematics
tables, CarMaker can calculate the forces applied to the wheel center, for any independent axle or even for a rigid rear
axle.
 Various kinematics descriptions are available. The kinematics have to be specified for each - the front and rear axle
separately. Usually, a suspension is symmetrical, but a non-symmetric axle can also be parameterized using the mode
External File – SKC or MBS file.
 In general, two categories of kinematics characteristics are available which can be selected under Model. There are
different linear kinematics descriptions with one, two or three degrees of freedom plus the External SKC File and
External MBS File model for non-linear characteristics.
 Ref. IPG Users Guide - pg. 332-336 & IPG Reference Manual - pg. 179-202.
Important Note:
 For Suspension Kinematics, any one of all the available linear / non-linear models – Linear 1/2/3 DOF or SKC-File or
MBS-File can be used by the teams for the Front as well as Rear.
 Although it has to be noted that the usage of linear/non-linear models shall have different effects on the vehicle
performance, and this should be tested by the teams with their models before finalizing.
B.4.6.1 – Linear Kinematics Models
 If using a Linear Kinematics model, depending upon the suspension design at Front/Rear, teams have to select the
appropriate DOF model, and then fill in the requisite data required.
 Ref. IPG Users Guide – pg. 332-336
B.4.6.2 – Non-Linear Kinematics Models
 In case of a non-linear kinematics description an external file (External SKC-File or MBS-File) needs to be loaded, to
activate this kinematics model in CarMaker.
 As shown in the figure below, on the top-right side, Go to Model > Open > Project > Select the .skc file or .mbs file
you want to load into CarMaker. Once it is loaded the suspension kinematics model is ready to be used with the
vehicle model in CarMaker for simulation.
B.4.6.2.1 – SKC-File
 SKC-File contains the data of suspension kinematics behaviour of the vehicle for Front/Rear. Once loaded in CarMaker,
it will govern the suspension kinematics behaviour for the Front/Rear axle at the time of simulation.
 SKC-File can be generated using IPG Kinematics, a standalone virtual axle kinematics test bench, or by any other Multi-
Body Dynamics (MBD) software, which can generate SKC-File. Once the SKC-File is available, as shown below, copy
it into your Project folder > Data > Chassis>TeamID_TeamName_Chassis, so that it can be accessed from IPG
CarMaker as shown in B.4.6.2.1.1.4.2.2.1
 The SKC-File can also be opened with Notepad to view the suspension kinematics data that it is carrying.
B.4.6.2.1.1 – SKC-File Generation / Axle Kinematics modelling using IPG Kinematics

 For easy grasping of this section - Axle Kinematics modelling using IPG Kinematics, teams are suggested to read this
section alongside the IPG Kinematics Reference Manual, which can be accessed from ‘Help’ option in the IPG
Kinematics GUI.
B.4.6.2.1.1.1 – Starting IPG Kinematics

 IPG Kinematics is a program system designed to simulate a vehicle axle on a virtual axle kinematics test bench and is
used to calculate the kinematics, steering kinematics and elasto-kinematics of the suspension system.
 Teams can utilize IPG Kinematics for Vehicle Kinematics - Iterations and Optimization.
 IPG Kinematics can be accessed in two ways as illustrated below-
 In CarMaker’s GUI, Vehicle Data Set > Suspensions > Kinematics > Model > SKC-File
 IPG Kinematics is a standalone application and can be accessed through Windows Start Menu
 IPG Kinematics initial GUI window and the terms used to effectively access options in there are shown in the image
below.
 Ref. pg. 7-14 of IPG Kinematics Reference Manual
B.4.6.2.1.1.2 – Configuration of Suspension Type for Simulation

 Create a new file by selecting ‘File > New’ from the Menu bar in IPG Kinematics GUI.
 Select the Suspension type which the Team intends to use in the Vehicle, and the team can now start modelling their
suspension system as per the type selected. After the modelling is complete the teams have to save their model from
‘File > Save’, if they close without saving then all the progress will be lost.
 Once a new file is generated, and it is saved, teams can open it from the ‘File > Open’ option and can edit / view the
parameters defined in that suspension system.
 Additionally, the graphical view of all the suspension types available in kinematics, can be found out in IPG Kinematics
Reference Manual from pg. 73 - 162
B.4.6.2.1.1.3 – Simulation Control
Before reading the Simulation Control & Vehicle Data for IPG Kinematics further in this document, it is advised to
open the IPG Kinematics ‘Forces Off’ Simulation PDF file, and read it alongside this document for better
understanding.
IPG Kinematics ‘Forces Off’ Simulation file link: https://bit.ly/IPGKinematicsForcesOffSimulation
 Parameters essential for controlling the simulation aspect are entered in Simulation Control Window.
 Select Edit > Simulation Control to access the Window.
B.4.6.2.1.1.3.1 – General


 Kinematics: Forces On or Off

 Storage of Tables: Log
 Storage of Results: CarMaker Interface (1) or (2)
 Enable Save CarMaker files only checkbox, to save only KIN & SKC file
B.4.6.2.1.1.3.2 – Kinematics
 All teams must mandatorily select the options as follows:

 Parallel Kinematics: On
 Reciprocal Kinematics: Off
 Steering Kinematics: On (1) [Depending upon the axle for which Suspension Kinematics model is generated
(Front/Rear) and whether that axle has steering]
 Compression (mm): Here, Minimum means the maximum downward wheel travel as per design, hence it must be -ve.
Maximum means the maximum upward wheel travel as per design; hence it must be +ve. While the Stepsize means
the calculation steps that will be considered by the software. For e.g., if a stepsize of 5.0 is considered then the
simulation will be carried out in steps of 5, so for -40 to 40 mm compression, the total simulation & results steps will be
16. Increasing the stepsize will increase the accuracy of the simulation results and also increase the time taken for
simulation.
 Distance Steering Rack (mm): Here, Minimum means the maximum movement of the steering rack to the right, from
static position as per design, hence it must be -ve. Maximum means the maximum movement of the steering rack to
the left, from static position as per design; hence it must be +ve.
B.4.6.2.1.1.3.3 – Compliance

 All teams must mandatorily select the options as follows & leave everything else as default:
 Lateral Force: Off
 Longitudinal Force: Off

B.4.6.2.1.1.3.4 – Mixed Force

 All teams must mandatorily select the options as follows & leave everything else as default:
 Mixed Force: Off

B.4.6.2.1.1.4 – Vehicle Data
 Here the Suspension system parameters need to be defined for creating the suspension kinematics model.
 The screenshots attached below and the data seen in those are specific to a Double Wishbone Suspension Type
selected in IPG Kinematics, the data required for other suspension types might have some extra parameter definitions
needed, for which the teams can refer IPG Kinematics Reference Manual.
 Select Edit > Vehicle Data to access the Vehicle Data Window.
B.4.6.2.1.1.4.1 – General
 Enter the General parameters of the vehicle as per design. Select “Front Axle” for parameterizing Front Suspension
System OR “Rear Axle” for defining Rear Suspension System.
 Select “Chassis Subframe Off” option.
 Height Vehicle Center of Gravity, preferably from IPG CarMaker GUI > Vehicle Data Set > Assembly > Info
 The teams who know the value of their tire rate can input their own value, if not then please refer section B.6.2.2 in this
document on what value to put in Tire Rate.
 Select Elastic Mounting Steering Gearbox “Off” if the steering gearbox is directly mounted on the chassis, while if it is
mounted upon some bushings in between, then select the “On” option.
B.4.6.2.1.1.4.2 – Springing
 Spring Fixing defines the suspension component on which the spring is mounted on wheel side.
 Similarly, the mounting locations of Stabilizer Bar & Pull-/Pushrod can be defined. If the designed vehicle doesn’t have
any of these components, then select as “None”, to deactivate these linkages. After None is selected, the parameters
for these components should be left as default (don’t specify as 0.0), as anyway they are now insignificant.
 3. Spring Stabi Torsion Bar > It is to be defined if an additional Torsion Bar is present alongwith the stabilizer in the
suspension system being modelled. Spring-Stabilizer-Torsion Bar acts as an integral system, and the spring rate/curve
of Torsion Bar needs to be defined here if applicable, otherwise simply select as ‘None’.
 Spring  Linear or Curve can be selected based on the available spring data. If Linear is selected, then only a
characteristic value of Spring Rate needs to be defined in N/mm, while if curve is selected then a table of Force vs
Compression values need to be defined. Value pairs of Compress (mm) and Force (N) can be added to improve
resolution of springcurve using Insert Option. It is recommended to go with the Curve option, as it will increase the
accuracy of the model. Enter the Amplification as 1.0.
B.4.6.2.1.1.4.3 – Bushings
 Define a bushing file and its properties for each of the Linkages under “Bushings” and enter the required values for
each bushing. As the Chassis Subframe is selected as off, no need to define Bushing Properties for Chassis Subframe
Front & Rear Option, leave it as default. While if defining the Rear Suspension which doesn’t have a steering, Steering
Rod – Steering Rack option can be left as default. If the Suspension model being defined doesn’t have a stabilizer bar,
leave the Stabilizer Bar – Wheel Suspension bushing option as default. While if “Elastic Mounting Steering Gearbox
Off” Option has been selected in the General tab, then leave the Chassis Subframe – Steering Gearbox Option under
Bushings as default.
 From the “Browse” option available in front of the Bushing File Name, all the available default bushings can be accessed.
More details on editing the bushing properties have been mentioned further.
 Point Bushing Center: Enter bushing center coordinates
 Point on Bushing Axis: Enter coordinates of a point on the bushing axis.
 Angle about Bushing Axis: Leave it as Default
 For the teams finding it hard to understand the Bushings terminology, consider the Bushing as the mountings of the
linkages for e.g., Wishbone, on the chassis side. And define the Bushing Center & Axis Point as the Mounting Center
& Axis Point.
 Ref. pg. 28-34 -of IPG Kinematics Reference Manual
B.4.6.2.1.1.4.3.1 – Bushing Properties
 When you go to the “Browse” option available in front of the Bushing File Name, all the available default bushings can
be accessed, from the dialog box that opens as above. Select any one amongst it, and then click on the “Edit” option
on the right side, after which the following window opens up.
 Here you can see all the properties of the bushing being defined. If the team has these particular values as per their
design, they can define those or simply leave it as default. As can be seen at the top of the above figure, there is a
Filename option, where the teams can change the name of their Bushing File if they have defined the values as per
their design, for ease of accessing it for the next time. If any changes are done here in the bushing properties, click on
the “Save” option at the bottom-right corner to save those after changing the Filename such that it is saved under this
new Filename.
B.4.6.2.1.1.4.4 – Mass
 Mass of each component of the suspension kinematics model being defined needs to specified here individually in ‘kg’.
For the components not applicable, for the suspension kinematics model being defined like Chassis Subframe,
Stabilizer Bar, Stabilizer/Link, Rocker Arm, etc. don’t define the mass as 0.0, define it as 1.0 kg, and leave it. This mass
won’t be considered for simulation in IPG Kinematics, because we had already defined these components as Off in the
General & Springing Tab, but if the teams put 0.0 for such masses, then simulation will show an error and won’t run
because the simulation in the backend works on a connected mathematical model.
 In the Axle Weight, the weight of the Axle as an individual component needs to be specified. For e.g., in BAJA vehicles,
the front axle is not a rigid axle and both the front wheels are capable for individual dynamics, hence the axle is called
a Stub Axle for a RWD BAJA vehicle. Hence, here in Axle weight, the weight of the Stub Axle needs to be defined if
Front Suspension Kinematics is being modelled. Similarly, if Rear Suspension Kinematics is being modelled, or the
vehicle is an AWD, then be it Front or the Rear, the Axle weight will correspond to the weight of the splined/keyed end
of the drive shaft, on which the Wheel Carrier (Hub) is mounted/coupled.
B.4.6.2.1.1.4.5 – Geometry
 First select the Axis system as DIN 70000.

 Define the co-ordinates of all the points here with respect to Fr1, as seen in CarMaker. For more details about reference
frame Fr1, kindly refer the Vehicle Data Set > Assembly > Configuration section B.2.1 in this document above.
 As IPG Kinematics considers your suspension kinematics model as symmetric, you only need to define the co-ordinates
on only one side, say left side. The other side, say right side will be mirrored by IPG Kinematics in the backend at the
time of simulation.
 The co-ordinates of the linkages which are not applicable to the suspension kinematics model being defined, should be
left as default, but don’t define it as 0, because the simulation will show an error if you do so.
B.4.6.2.1.1.4 – Analysis and Results

 Tools essential for analysis and exporting results of the simulation in IPG Kinematics are illustrated in this section.

B.4.6.2.1.1.4.1 – Geometrical Control
 Prior to calculating suspension kinematics, it is advised to examine the inputs holistically. To graphically view the
geometrical data, “Geometrical Control” serves as an outline of all the positions of hardpoints entered.
 To access this tool, select Analyse  Geometrical Control to glimpse the Sectional View, SideView and Top View of the
Suspension System with respect to the reference point taken while cumulating the Hardpoints.
B.4.6.2.1.1.4.2 – Suspension Kinematics Model Simulation, Storage of Results & Results

Analysis
B.4.6.2.1.1.4.2.1 – Suspension Kinematics Model Simulation
 Select to calculate the Kinematics data of the modelled Suspension System in IPG Kinematics.
B.4.6.2.1.1.4.2.2 – Storage/Saving of Results

 To export the results in CarMaker, ensure to have selected the option:
 In Simulation Control  General  Storage of Results:
 Select CarMaker Interface (1) or (2)
 Enable Save CarMaker files only
 Select File  Save and enter a name of File e.g., TeamID_TeamName_Front.kin to save the file.
 Saving the file creates an additional skc file in the folder, e.g., TeamID_TeamName_Front.skc. This .skc file can be
further imported into CarMaker for loading this Kinematics data of the Suspension system simulated in IPG Kinematics
for Front/Rear. A figure has been shown below wherein you can see the saved SKC file from IPG Kinematics.
B.4.6.2.1.1.4.2.2.1 – Importing Results in IPG CarMaker
 First copy the SKC-File generated via. IPG Kinematics into your CarMaker Project folder > Data > Chassis, so that it
can be accessed from CarMaker as shown above.
 Then Go to IPG CarMaker > Vehicle Data Set > Suspensions > Kinematics > Select SKC-File, then Go to Model option
on the right side, select Open, then a dialog box opens from which you can select the SKC-File that you had copied in
the Chassis Folder.
SKC File from IPG Kinematics is now successfully loaded in CarMaker

 After the above steps are successfully completed, the SKC file is integrated with CarMaker vehicle model and the
suspension kinematics data from the SKC-File shall be used by CarMaker at the time of simulation.
B.4.6.2.2 – MBS-File
 While the SKC-File has to be created using IPG Kinematics or some other MBD software, and then needs to be called-
in into the CarMaker, the CarMaker suspension library offers some highly resolute multibody system (MBS) suspension
models for the front and rear axle as a part of the CarMaker GUI itself. Although, each MBS suspension model is
realized as a virtual suspension testbench with a fixed vehicle body. The suspension model runs besides the vehicle
model and interacts with the vehicle model via the global suspension interface. There are certain drawbacks of the MBS
suspension modelling available as default in the CarMaker, that is certain components like stabilizer bar, if are not a
part of the team’s suspension design, then they cannot be switched off from the suspension model in MBS.
 Ref. IPG User’s Guide – pg. 339-363 & IPG Reference Manual – pg. 219-268.
 Select Vehicle Data Set > Suspensions > Kinematics > Front/Rear > MBS-File > Open MBS-Editor
B.4.6.2.2.1 – General
 In the General tab, the teams have to select their Suspension Model (there are very limited suspension options available
here). After selecting it, the graphic for that suspension type opens up, in the above figure one such graphic for Double
Wishbone Suspension is seen above.
 Calculation Mode: Dynamic (Time Integration) or Accelerated (2D Look-Up Table) can be selected. It is suggested to
go with Dynamic Mode for an increasing the resolution of the suspension kinematics model being defined.
 If the Extended Configuration is selected the Steering System becomes mandatory, and some additional parameters
need to be defined like steering gearbox. Hence, this can be used for Front if the team wants to do so.
 If a Symmetrical Suspension is selected then parameters need to be defined only for one side of the suspension system,
and the other side gets mirrored.
B.4.6.2.2.2 – Bodies
 The Masses and the Inertias of the individual elements of the suspension model should be provided here. This has to
be done by the user. The wheel carrier mass put in here and that in the Vehicle Data Set > Assembly > Chassis should
be the same.
 Please note that even if the teams are defining certain masses of the suspension & steering system here, these masses
don’t get added up in the overall vehicle model in the CarMaker. This is because these masses are only used for
suspension simulation. As mentioned above, at the time of simulation, this MBS suspension system is simulated
parallelly with the CarMaker but individually. Hence, in Vehicle Data Set > Body > Structure, all the sprung masses in
the vehicle (excl. driver) needs to be defined, irrespective of what masses the teams define in MBS data set.
B.4.6.2.2.3 – Joints
 The coordinates of all the hard-points of the suspension elements (apart from the spring and damper) have to be defined
here in terms of x, y and z-coordinates of the Suspension Reference Frame or FrSusp.
 Please take note that the origin of the FrSusp is located at the center of the axis that joins the two-wheel centres of the
left and right wheel. For example, the FrSusp for the front axle would therefore be the center of the axis that joins the
front left and front right wheel centers with respect to FrD.
 In the Joints tab at first you need to define “Origin of the vehicle frame FrD”, wherein you have to put the x, y. z co-
ordinates of the FrD, considering FrSusp as origin. Remember that FrD = Fr1, which was defined in Vehicle Data Set >
Assembly > Configuration. Now considering that the team is modelling say Front Suspension, then FrSusp will be the
centre point of the axis drawn from the center of the front left and front right tires. Now considering that point as 0,0,0,
find out the co-ordinates of the point Fr1, which the team had taken as the rearmost point of the vehicle on the vehicle’s
centerline, taken to the ground. This will give you the co-ordinates for “Origin of the vehicle frame FrD”.
 Similarly, please note that all the other co-ordinates to be mentioned in here are also to be calculated with respect to
FrSusp as origin and not FrD/Fr1.
 Ref. IPG User’s Guide – pg. 341 and pg. 359-363 for Double Wishbone.
B.4.6.2.2.4 – Force Elements
 The coordinates of the hard-points of the Force Elements, i.e., the Spring and Damper elements have to be also
provided here in terms of x, y and z-coordinates of the FrSusp, same as the Joints.
 Please refer to the IPG Reference Manual, section ’Suspension Kinematics and Compliance > MBS Suspension’ for
more information regarding the specific Force Element hard-points for each type of suspension as well as their
corresponding further options for parameterization.
 Ref. IPG User’s Guide - pg. 342 and pg. 361 for Double Wishbone.
B.4.6.2.2.5 – Bushings
 The parameters for all bushings (present at mounting of the linkages on chassis side) of the wheel suspension are
entered in the "Bushings" tab. The various bushings that are a part of the suspension type that has been chosen are
shown in a selection pane of the left. The corresponding parameterization for that particular bushing can then be done
based on the various options provided.
 Ref. IPG User’s Guide – pg. 342 and pg. 362 for Double Wishbone.
B.4.6.2.2.6 – Mapping & Misc.
 Here the teams have to define the maximum suspension kinematics & compliance values for the parameters stated as
per their suspension design. This will be considered at the time of simulation and the maximum value specified here
will constrain that simulation. Number of grid points means basically the stepsize that will be considered for simulation.
 Misc.: Here the static camber angle and the static toe angle are defined.
 Ref. IPG User’s Guide – pg. 363 for Double Wishbone.
B.4.7 – Compliance & External Forces
 Compliance & External Forces tab in the Suspension data set can be left as default – not specified.
B.4.8 – Wheel Bearing Friction

 For a given axle, teams have the option to include friction torque at the wheel bearings into their suspension data set.
 Ref. IPG Users Guide – pg. 368-369 & IPG Reference Manual – pg. 177.
B.5 – STEERING
 Teams can select the steering model based upon their design & availability of parametric values.
 Ref. IPG Users Guide - 370-373 & IPG Reference Manual - pg. 277-281.
B.6 – TIRES
B.6.1 – Selection of the tire file from Vehicle Data Set
 There are some default tire models available in the Tires tab, and the teams can select a model amongst them, or else
it is also possible to generate a new tire data set which is mentioned further in the section B.6.2.4.
 To select the tire model for the vehicle being modelled, click on the folder icons which will open a dialog box for selection
of the tires. The teams can either select the same tires for all the wheels Front & Rear, by choosing a tire from the Select
all tires option. Teams can also define separate set of tires for Front & Rear, by clicking on the folder icons in front of
Front Axle & Rear Axle.
 Ref. IPG Users Guide - pg. 621
 The tire file can also be selected from the main GUI window as shown in figure below. Please note that if the tire is
selected from the main GUI window, at the time of simulation it will override the tire selected in the vehicle data set.
B.6.2 – Editing the tire model
 After selecting the folder icon from the Tires window from vehicle data set the above dialog box opens up, wherein from
the Product Examples, a suitable default tire model can be selected. After clicking on the tire model, to select it, click
on “OK”, while to view/edit its properties, click on “Edit”.
 If the team has created their own tire file – TYDEX file (defined further in section B.6.2.4.), they can select it from the
Project folder, as seen in the above dialog box.
B.6.2.1 – Tire Data Set > General Parameters
 Please note that the first tab in the Tire Data Set Editor is independent of the selected tire model. It defines general
settings such as the path to referenced parameter files, information for the animation of the tire and the side influence.
 Ref. IPG Users Guide – pg. 625-626.
B.6.2.2 – Tire Data Set > Model Parameters
 In the Model Parameters tab, all the parameters of the tire can be viewed/edited. Here we have selected a RealTime
Tire, this type of tire is also recommended to the teams who are using default tire models and not creating their own tire
file.
 The Friction Coefficient Value is recommended to be kept as 1. This is because at the time of simulation on a road in
CarMaker, the friction coefficient of the road is considered. But, say that the friction coefficient of the road is 0.7, and
the Friction Coefficient defined here is 0.5, then the tire isn’t capable of performing at 0.7 friction coefficient, and the
simulation will run considering 0.5 as the coefficient of friction between the road and the tire.
 Vertical/Radial Stiffness (N/m) mentioned in here is also called as the Tire Rate. In IPG Kinematics section
B.4.6.2.1.1.4.1, the Tire rate needs to be defined in the suspension kinematics model. The teams are suggested to
check the Tire Rate of the tire they shall be selecting in the Tire Data Set, check its Vertical/Radial Stiffness that is the
Tire Rate value, and then put the same value in the IPG Kinematics GUI. Please note however, that the vertical/radial
stiffness or the Tire Rate here in Tire Data Set is in N/m, while in IPG Kinematics it is asked in N/mm.
 If a team has created their own tire – TYDEX file, they can convert the TYDEX file into the Tire Data Set, by clicking on
the Convert TYDEX File and then selecting the generated TYDEX file. After this, the tire data set is updated as per the
TYDEX file, and the teams can check the parametric values here.
B.6.2.3 – Tire Data Set > Scaling Factors
 To tune the tire characteristics, scaling factors can be applied. They are used as amplification / multiplying factors for
the characteristics.
B.6.2.4 – Tire Data Set Generator
 Tire Data Set Generator can be accessed from File option in Tire Data Set. A custom Tire size can be selected here,
with custom inflation pressure and then by clicking on Generate the properties of this tire will get generated in the Tire
Data Set which can be edited as explained in above sections.
 Tire Nomenclature –
For e.g., 195 / 65 R15
195 – Nominal Sectional Width or Width of the Tire in mm
65 – Nominal Aspect Ratio (Section Height/Section Width) (Section Width means the width of the tire and sectional
height means Outer Radius of the Tire minus (-) the Inner Radius of the Tire)
R – Tire with Radial Construction
15 – Rim diameter in inches
B.6.2.5 – Saving the Tire Data Set
 From Tire Data Set > File > Save as, the edited tire file can be saved. Ensure to rename it properly for using it in further
simulations.
B.6.2.6 – Generation of a New Tire Data Set

 For generating new tire data set the TYDEX file for the tire has to be generated.
 Say the team wants a required tire size is 178/43 R10 but in CarMaker minimum default tire size available is 175/45
R15. Then the following steps need to be followed to generate a custom tire file.
STEPS TO GENERATE:
Step 1: To generate .tdx file for already available tire in CarMaker (175/45 R15). After clicking Generate tab in Tire data set
Generator, three files will be generated in Project folder/Data/Tire/Examples. Before generation make sure to Tick
the option “Keep TYDEX File”. Refer figure 1 and figure 2 below.
Step 2: The process was repeated to get the .tdx files for 15” and 16” sizes which is again used for extrapolation.
Step 3: After obtaining the required .tdx files, one of the .tdx file is to be edited with extrapolated data and generate .bin file
and info file. The TYDEX file can be opened with Notepad by accessing it from Project folder/Data/Tire/Examples.
From the chosen .tdx file, the modification is to be done in following sections: Constants, Model parameters,
measured data. The measured data for 15”, 16” are used for extrapolation and finding the same data set for 10”
tire. The below figures 3 and 4, show the parameters to be modified for generating new tire data set. NOTE: The
figures show unmodified data.
Step 4: After updating the changes, tire data set to be saved as TeamID_TeamName_Front.50.tdx for Front Tire. Similarly,
for Rear Tires save as TeamID_TeamName_Rear.50.tdx and for same front & rear tires,
TeamID_TeamName_F&R.50.tdx
Now this .tdx file is used to generate the info file and binary file with tireutil.exe. This executable can be found in
IPG CarMaker installation path C:\IPG\carmaker\win64-11.1\bin. From the following path the executable is
duplicated in current project folder under-
CM_Projects\TeamID_TeamName\Data\Tire\TeamID_TeamName_Front.
Both the executable and the .tdx file should be in same folder. The tireutil.exe is run using command prompt after
locating the correct directory:
C:\CM_Projects\Tire data\Data\Tire\Examples
tireutil -if file_name.tdx –of file_name
tireutil -if TeamID_TeamName_Front.50.tdx -of TeamID_TeamName_Front.50
//-if denotes input file// //-of denotes output file//
The figure 5 shows the command prompt window during file generation. Following this the file generation starts,
and the required info file and binary files were generated in the same CarMaker Project folder. The figure 6 shows
the generated files.
Now these tire files can be accessed from the Vehicle Data Set > Tires, for integrating the CarMaker Vehicle Model
B.7 - BRAKE
B.7.1 – General
 In the General Tab, Amplification/Multiplying factor can be specified to the Brake Torque values. This can be used for
carrying out iterations, but at the time of vehicle model submission, the amplification values should be set as 1.
B.7.2 – Control (only for eBAJA)

 This tab is of significance to the eBAJA teams using Regeneration in their e-Powertrain system.
 The teams have to define the Regenerative Brake Mode and the values associated to it.
 After selecting a type of Regenerative Brake Mode – Parallel or Serial and entering the requisite values, only then the
Brake Regeneration will act during simulation.
B.7.3 - System
 Teams can select Hydraulic & Pressure Distribution Model, which is a ‘H-Split’ model defined into the IPG CarMaker.
 Teams can select either Pedal Force or Pedal Actuation mode, based on their individual vehicle design. And the actual
design values from the brake system design should be fed in.
 Ref. IPG Users Guide - pg. 386-387 & IPG Reference Manual - pg. 535-539.
B.8 – mBAJA POWERTRAIN (Only for mBAJA teams)
 mBAJA teams must mandatorily select the Conventional Model of Powertrain.
B.8.1 – DRIVE SOURCE

B.8.1.1 – ENGINE
B.8.1.1.1 – General
 The values for Engine off speed, idle speed, Torque Ignition Off & Build-up time under General tab of Engine should be
specified exactly as in the above dialog box by all the teams.
B.8.1.1.2 – Torque
 All the mBAJA teams have to mandatorily feed values given in the excel sheet, after selecting Mapping Model - 2D
Look-Up Table: Engine Speed and Gas, with Amplification = 1.0
Link to the excel sheet: BSI 2024 - IPGCarMaker Guidelines Engine Dataset
Any mBAJA team found deviating from any of these given values, shall be penalized.
 Keep the torque correction depending on environmental conditions as unticked/not selected.
B.8.1.1.3 – Fuel Consumption
 Select the Fuel Consumption check box and leave all the values as default.
B.8.1.1.4 – Turbocharger & Intake Manifold
 Deselect the Turbo charger & Intake Manifold Pressure checkboxes in the respective tabs.
B.8.1.1.5 – Bodies
 All the teams have to mandatorily specify the Engine Mass as 27 kg. Any team found deviating from this shall be
penalized.
 Moment of inertia of the Engine has to be defined in the axis orientation of frame FrD, as per the mounting location of
the engine specific to each vehicle.
 Ref. IPG User’s Guide - pg. 397.
B.8.1.2 – STARTER MOTOR
 All the mBAJA teams must leave the Starter Motor data set as default.
B.8.1.3 – CLUTCH
 In CarMaker, clutches usually are sub models of the gearbox.

 Clutch Model should be selected as friction here for a Continuously Variable Transmission (CVT) system. In this case,
the maximum torque = Max. Engine torque (19.2 N-m) x CVT low ratio.
 Friction slope can be set as 12 Nms/rad, if a team doesn’t have the data. The other values can be left as default or
input as per the design. (Ref. IPG Users Guide – pg. 420-425 & IPG Reference manual – pg. 427-438 for other types
of clutches)
B.8.1.3.2 – Torsional Spring
 Characteristic value of the clutch torsional spring constant should be specified.

 It is recommended to select 1D Look-up table for specifying angle vs torque values. The values/node points such
specified should be increased gradually for accurate output results.
 Ref. IPG users Guide – pg. 422.
B.8.1.4 – GEARBOX
 For a CVT, select Model – Continuously Variable Transmission

 Refer IPG Users Guide – pg. 411-414 & IPG Reference Manual – pg. 439-454.
B.8.1.4.2 – Gears
B.8.1.4.2.1 – General
 Teams should input the maximum & minimum ratios of their CVT, and specify the build-up time from min to max in sec.
Build-up time min to max (s) – Here, a minimum value of 2.0 sec should be specified by the teams, that is no team
should specify a value below 2.0 sec.
 Please note here that the no. of ratios should not be specified as 0, even as it is as CVT model, or it will show error in
the simulation. Specify a certain no. of ratios, and then specify the gear ratios in those many steps between min to max
ratio, as shown in figure above.
 It is also required to specify the no. of Torque Loss ratios and the corresponding factor.
 Ref. IPG Users Guide – pg. 417.
B.8.1.4.2.2 – Torque Loss Ratios

 As per the no. of ratios & factors put in the previous tab, now the Torque Loss Ratios need to be specified for the CVT
system.
 Teams who do not have this Torque Loss Ratio data for their CVT model, can leave it as default. If a team is defining
the Torque Loss Ratio as per their design, please ensure that the initial node point should be specified with respect to
-ve Torque, this is because when the Gearbox will start initially, a jerk force will act opposite to the direction of rotation.
If this is not ensured, then the simulation will show an error.
 Ref. IPG Users Guide – pg. 417
 As per the no. of ratios & factors put in the previous tab, now the Torque Loss Ratios need to be specified for the CVT
system.
 Teams who do not have this Torque Loss Ratio data for their CVT model, can leave it as default. If a team is defining
the Torque Loss Ratio as per their design, please ensure that the initial node point should be specified with respect to
-ve Torque, this is because when the Gearbox will start initially, a jerk force will act opposite to the direction of rotation.
If this is not ensured, then the simulation will show an error.
 Ref. IPG Users Guide – pg. 417
B.8.1.5 – TANK
 The mass of the Fuel Tank should be specified as ‘3 kg’ if teams use Briggs & Stratton Fuel Tank #799863. In case
of Pyrotect SFC1000 Fuel Tank enter the mass of Fuel Tank as ‘6kg’. Any team found deviating from this shall be
penalized.
 The inertia values must be calculated and put as per the individual vehicle design and positioning of the fuel tank therein.
B.8.2 – DRIVELINE
B.8.2.1 – General
 Teams can select the type of their designed Driveline model.

 External Torque Off checkbox shall be selected at all times.
 Flexible driveline is optional and can be selected by the teams as desired. If it is selected, then the teams have to define
the drive-shaft’s stiffness, damping and inertia in the Front &/or Rear Axle tabs.
 Refer IPG Users Guide – pg. 427-435
B.8.2.2 – Front Axle, Rear Axle, Diff. Center & On-Demand Clutch
 Depending upon the type of selected Driveline model, these tabs will unlock/lock respectively.
Accordingly, the data asked in these tabs needs to be defined, like the axle transmission ratio, efficiency and inertia
values.
 Ref. IPG Users Guide – pg. 427-435 & IPG Reference Manual – pg. 455-473.
B.8.3 – POWER SUPPLY
 The Power Supply data set should be left as default mandatorily by all the mBAJA teams.
B.8.4 – CONTROL UNIT
B.8.4.1 – PT Control
 PT Control Model should be selected as Generic by all the mBAJA teams.

 Gas interpreter is optional and can be selected by the teams as desired. ‘Gas’ basically means accelerator
pedal/throttle input in IPG CarMaker.
B.8.4.2 – ECU, MCU & BCU

 ECU & MCU models should be selected as basic and leave rest of the values as default.
 BCU model should be selected as not specified.
B.8.4.3 – TCU
 For CVT, select the TCU model – Continuously Variable Transmission

 Teams can select the Control mode as desired – Single Track or Speed Envelope. It is to be noted that Speed
Envelope option if selected, will reflect the design fidelity of the vehicle model.
 Ref. IPG users Guide – pg. 447, 451 & 452.
B.9 – eBAJA POWERTRAIN (Only for eBAJA teams)
 eBAJA teams must mandatorily select the Electrical Model of Powertrain.
B.9.1 – GENERAL
 Teams can select the number of motors depending upon their vehicle’s Electrical Architecture.
 Teams who are using multiple motors in their vehicle can set the model using Pre-Configuration option, if the model
meets their design requirements.
NOTE:
Teams have to make sure that the values they are entering for the parameters listed in the Powertrain section are based
on sound vendor documentation and resources. Teams have to keep the valid data/specification sheets of all the
components that they have got from the vendors and the calculations made (if any) to specify the values in their vehicle
model ready in order to submit to BAJA SAEINDIA 2024 Organizing Committee whenever they are asked to do so.
B.9.2 – DRIVE SOURCE
B.9.2.1 – Gearbox
 Teams who have selected a Gearbox directly coupled to the Motor in their vehicle can select the No Gearbox option
and the rest can be select according to their design.
 Gears/Converter Factors/Clutch/Bodies; these tabs will unlock based on the model selection that the teams have made.
Teams have to fill in the requisite values of parameters there, to define the selected model.
 Some of the options under Gearbox are applicable only to Conventional (IC Engine) or Hybrid Vehicles and hence,
when selected for an e-Powertrain vehicle will show the errors such as Manual Gearbox not supported or BEV (Battery
Electric Vehicle) error. Ref. IPG User’s Guide - pg. 412, to check the Gearbox options not directly supported for e-
Powertrain vehicle in CarMaker.
 Ref. IPG User’s Guide – pg. 411-413, 417-419 & IPG Reference Manual – pg. 420-425.
 As most of the models like Manual, CVT are not supported for e-Powertrain directly, however the teams can define
these models using “User C-code / Simulink Plug-in / FMU". Ref. IPG Reference Manual – pg. 426 and for more
detailed information on how to create/integrate such models, refer to the IPG Programmer’s Guide.
NOTE: Teams who are selecting No Gearbox option have to input their reduction ratio in a parameter named Transmission
in the Driveline section under Front Axle/Rear Axle, whichever the team has opted for.
B.9.2.2 – Electric Motor
B.9.2.2.1 – Electric Motor - General
 Ref. IPG User’s Guide – pg. no. 408 & IPG Reference Manual – pg. no.420
 Teams must set the Ratio as 1. If the teams use an intermediate reduction mechanism (e.g. chain drive transmission),
the drive ratio should be entered in the Ratio field.
 Teams have to select the Voltage level as High Voltage 1.
 The Inertia, Build-up time and Friction coefficient values can be specified as stated by manufacturer. In absence of the
values, these fields must be kept as default.
B.9.2.2.2 – Electric Motor – Torque
 Teams may select either characteristic value or 1D Look-Up Table and can enter the values accordingly. 1D Look-Up
table is preferable to improve the resolution of the model.
 Amplification gives a multiplying factor to all the above specified values and can be used for carrying out iterations
easily. But at the time of final submission, amplification should be set as 1.
 Ref. IPG User’s Guide – pg. no. 408 - 410 & IPG Reference Manual – pg. no. 420-425
B.9.2.2.3 – Generator – Torque
 Generator is applicable only if the teams are incorporating Regenerative Braking in their vehicle.
 Teams can select either characteristic value or 1D Look-Up Table and can enter the values accordingly. 1D Look-Up
 Teams who are not incorporating Regenerative Braking, have to set Amplification to 0, so that the Generator Model
becomes insignificant.
B.9.2.2.4 – Electric Motor – Efficiency
 Teams can select either characteristic value or 2D Look-Up Table and can enter the values accordingly. 2D Look-Up
 Ref. IPG User’s Guide – pg. no. 410
NOTE: If the teams are unable to get the value of efficiency on a valid document from the vendor, then the teams must
enter the characteristic value of efficiency as 0.85.
B.9.2.2.5 – Generator – Efficiency
 Only the teams who are incorporating Regenerative Braking in their vehicle have to select either characteristic value or
2D Look-Up Table and can enter the values accordingly. 2D Look-Up table is preferable to improve the resolution of
the model.
 Teams who are not incorporating Regenerative Braking, have to set Amplification to 0, so that the Generator Model
becomes insignificant.
B.9.2.2.6 – Bodies
 Teams have to input the values in this tab as per selection of the motor and as per the design.
 Ref. IPG User’s Guide – pg. no. 411.
B.9.3 – DRIVELINE
B.9.3.1 – General
 Teams can select the type of their designed Driveline model.
 External Torque Off checkbox must be selected at all times.
 Flexible driveline is optional and can be selected by the teams as desired. If enabled, the teams have to define the
drive-shaft’s stiffness and damping in the Front &/or Rear Axle tabs.
 Ref. IPG User’s Guide – pg. no. 427, 428.
B.9.3.2 - Front Axle, Rear Axle, Diff. Center & On-Demand Clutch
 Depending upon the type of selected Driveline model, these tabs will unlock/lock respectively.
 While defining these Axle Drive parameters, if a team doesn’t have the value of the Friction Coeff. Of the clutch, it can
be left as default, but please be noted that this a crucial parameter in the power transmission. No team shall be found
to have defined the efficiency as 1 (100%), teams should define the efficiency as per their design, types of shafts and
joints used, etc. If a team is found to be defining the efficiency as 1.0, shall be penalized.
 Ref. IPG User’s Guide – pg. no. 427-435 & IPG Reference Manual – pg. 455-473, for details on construction of all these
models as considered in CarMaker.
B.9.4 – POWER SUPPLY
B.9.4.1 – General
 It is mandatory for all the eBAJA teams to select Power Supply Model as Low Voltage + High Voltage 1.
 Teams can enter the Auxiliary Consumer values according to their component’s specifications.
 Ref. IPG User’s Guide – pg. no. 456-458 & IPG Reference Manual – pg. 474-480.
B.9.4.1.2 – Converter HV1 LV
 Only the teams who are equipping their vehicle with a DC-DC Converter to provide power to the Low Voltage
components present in the vehicle have to enter the values of DC-DC Converter that they are using.
 Remaining teams have to ensure that Max. Converter power(kW) is given as 0.0.
B.9.4.2 – LV Battery
 Only the teams who are equipping their vehicle with an Auxiliary Battery to provide power to the Low Voltage
components present in the vehicle have to enter the values of LV Battery that they are using.
 Teams have to make sure that the idle voltage value that they are entering is <15V as per the rulebook.
 Teams can enter the values of R0, R1, R2, C1 and C2 of the battery, if they have those values available with them or
may leave the values as default.
 Teams can deselect the option State of charge influence to idle voltage.
 In the bodies teams have to put the mass and inertia of the LV battery.
 Ref. IPG User’s Guide – pg. no. 457 & IPG Reference Manual – pg. no. 476.
 And for those teams who are not going to use an LV Battery should not enter any of the values, and have to remove
the values that are there by default, and leave all the fields as blank. Also, such teams have to define the mass and
inertia of LV battery as 0.0 in bodies.
B.9.4.3 – HV Battery
 Teams have to make sure that the idle voltage value that they are entering is < 60V and capacity does not exceed
120Ah as per the rulebook.
 Teams can enter the values of R0, R1, R2, C1 and C2 of the battery, if they have those values available with them or
can leave the values as default.
 Teams should select the option “State of charge influence to idle voltage”.
i. Teams should enter the 1D Look-Up Table with regular/irregular intervals of SoC (as shown in the above fig.)
according to the Battery specification sheet.
ii. If the data is not available in the Battery specification sheet, Team should observe the voltage through calibrated
Voltmeter while discharging the battery at regular/irregular intervals of SoC. Now voltage factors can be
calculated by dividing these observed voltages by Battery idle voltage.
 In the bodies teams have to put the mass and inertia of the HV battery.
 All the teams have to make sure that they are limiting the Battery Power by Characteristic Value of Maximum Power
(kW) as 9.0.
 Ref. IPG User’s Guide – pg. no. 457-459 & IPG Reference Manual – pg. no.477-480.
B.9.5 – CONTROL UNIT
B.9.5.1 – PT Control
B.9.5.1.1 - General
 Teams have to make sure that they select Electrical Model in PT Control.
 Operation State Machine can be left as Generic.
 Ref. IPG User’s Guide – pg. no. 436-440.
B.9.5.1.2 – Gas
 GAS = Throttle / Accelerator pedal input.
 Teams have to enter the values according to their powertrain design that are being used. The Max. torque at full gas
and zero gas is the torque available at wheels.
 Ref. IPG User’s Guide – pg. no. 441-442.
B.9.5.1.3 – Battery
 Teams may deselect the option of Battery Management, as for VDE it is going to be a single lap run for each of the
dynamic events. But the teams have the liberty to select/deselect this option and they can finalize it by running their
own simulations. This option will be useful in studying the battery performance in an equivalent physical vehicle and the
characteristics associated with it.
 But the teams should keep a due note that it is mandatory for all the teams participating in Phase 3, to have a Battery
Management system onboard the physical vehicle.
B.9.5.1.4 – Regeneration
 Only the teams who are incorporating Regenerative Braking in their vehicle have to select the options Regeneration
Brake and Regeneration Drag.
 Teams, if they have can input the values required here or can leave them as default.
 Ref. IPG User’s Guide – pg. 443-446 & pg. 387 for Regenerative Brake Mode
NOTE: Teams who are incorporating Regenerative Braking have to make sure that they are making suitable changes in
the Brake Control section in the Vehicle Data Set, without which the Regeneration will not take place in the model. See
Section B.7.2 for Brake Control.
B.9.5.2 – TCU
 One transmission control unit (TCU) is responsible for shifting all gearboxes and open/close all clutches of the
powertrain.
 Teams have to select the model similar to what they have selected in Gearbox M and if No Gearbox model has been
selected in Gearbox M, then select here as –not specified--.
 Ref. IPG User’s Guide - pg. no. 447-448, 451.
B.9.5.3 – MCU
 Teams have to select the MCU model as Basic.

 Teams have to enter the Torque & Speed Controller P & I-values here, if these values are not available, leave it as
default.
B.9.5.4 – BCU
 Teams must ensure that they are selecting the BCU model - Low Voltage + High Voltage 1.
B.10 - Sensors
 Teams must create a new Road Sensor and enter the parameters as –
 Name: Param_RD00
 Preview distance [m]: 0.0
 Preview Mode: select Along Route Reference Line
 After creating the Road Sensor, the sensor mountings must be defined in the Assembly tab > Sensor Mountings as
mentioned in the Section – B.2.8 – Sensor Mountings
 Verify the sensor is connected to the sensor mounting by checking if a highlighted green arrow is visible next to the
Road Sensor name
 Ref – Users Guide pg. 481-483
PART C: DRIVER PARAMETERIZATION
C.1 - Overview of IPG Driver
 Refer 228-241 of IPG Users Guide & the IPG Driver Manual
C.2 - User Parameterized Driver & Traffic

 Cruising Speed in IPG Driver can be specified by the teams maximum upto 60 kmph, but not beyond that.
 Dt. Change of pedals – for pedals on either/different sides of the steering wheel – set as 0.2 s & if pedals are on the
same side – set as 0.7 s. No team should deviate from this.
 Driveaway Option - Traction Control must be switched OFF. This option is switched ON, only if Teams employ an
ESP - TC module in the Vehicle, which is not the case with BAJA vehicles.
 The max. long. acceleration & long. deceleration and lat. acceleration values are driver specific here and reflect
what an actual driver is capable of within the vehicle limits. Although these are limited by the actual vehicle’s capability
(as per the values defined in vehicle data set) even if specified higher than that. Also, these values drastically affect
vehicle’s handling while simulation, including the possibility of rollover, pitching, tendency to go off-track, wheel locking,
etc.
 The exponent of g-g Diagram defines the dependency between lateral and longitudinal accelerations at various speed
levels. The driver will drive so that the accelerations applied to the vehicle remain in the area defined by the exponents
and the maximum limits.
 Declutching – this has to be put as per the team’s expected driver performance with modelled/designed drivetrain. For
CVT this may be put to zero as it is a stepless transmission.
 Consider Traffic must mandatorily be switched OFF while creation of Maneuverability Event TestRun.
 Consider Traffic must mandatorily be switched ON (✓) while creation of ATP Event TestRun. The control strategy for
following the leading vehicle and overtaking can be employed by the teams.
 Misc. / Additional Parameters tab - Respect Speed Limits, Respect Stop markers and Respect Traffic Lights must
be switched OFF.
C.3 – Driver Presets
Sr.No. Driver Type Longitudinal & Lateral Dynamics Time taken to complete same track Tendency to go off-track
1 Normal Driver Balanced Intermediate Balanced
2 Defensive Driver Minimum Slowest Very Less
3 Aggressive Driver Maximum Fastest Very High
 Teams are allowed to use standard and extended driver presets to parameterise driver characteristics. In extended
preset, the driver behaviour type between an energy efficient driver and stressed driver can be parameterized based
on dynamics, energy efficiency and nervousness.
 Ref IPG Driver – pg.57 – 60
PART D: DRIVING MANEUVER PARAMETERIZATION
 After selecting New (bottom-left corner), teams can specify new maneuvers.
 For initial TestRun, try setting only the total desired time duration of the simulation or the total desired distance of the
track to be completed, by specifying the basic Longitudinal & Lateral Dynamics, by selecting IPG Driver in both.
 Longitudinal dynamics affects the vehicle’s longitudinal performance, that is speed, braking, clutching, gear change,
reverse movement, etc.
 Lateral dynamics is very essential in defining the vehicle’s lateral movements, use of the entire track width for better
performance, and to optimize the speed around the corners
 A good combination of the Longitudinal & Lateral Dynamics for different sections/patches along the tracks is very crucial
in optimizing the vehicle performance on a specified track.
 To learn about detailed maneuver steps, Ref. pg. 200-235 of IPG Users Guide & pg. 73-86 of the IPG Reference Manual
After completing all these three aspects – Vehicle Modelling, Driver & Maneuver Parameterization, the
IPG CarMaker environment is ready for vehicle simulation!

BAJA SAEINDIA 2024 - IPG CarMaker Guidelines (mBAJA + eBAJA)

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BAJA SAEINDIA 2024 - IPG CarMaker Guidelines (mBAJA + eBAJA)

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Foreword

Sr.No. IPG Ref. Manual Name Usage

Teams are advised to read the IPG CarMaker guidelines thoroughly!!

A.1 – IPG CarMaker & IPG Kinematics Installation

Kindly follow the following steps to install the software:

A.2 – IPG CarMaker – Project Workspace Setup

B.1 – VEHICLE DATA SET GENERATOR

B.2.1 – Coordinate Frames

B.2.3 – Engine Mount (Only for mBAJA teams)

B.3.2 - Outer Shell

B.3.2.1 – Generation of 3D object file

The steps involved for 3D object file creation are:

1. CAD model generation:

3. Open the file in the 3D designing software:

4. Refine the file as per the requirements:

 Aerodynamics model should be set as not specified.

B.4.3 – Parasitic Effects

B.4.6.1 – Linear Kinematics Models

B.4.6.2.1.1 – SKC-File Generation / Axle Kinematics modelling using IPG Kinematics

B.4.6.2.1.1.1 – Starting IPG Kinematics

B.4.6.2.1.1.2 – Configuration of Suspension Type for Simulation

 Kinematics: Forces On or Off

 All teams must mandatorily select the options as follows:

B.4.6.2.1.1.4.3.1 – Bushing Properties

 First select the Axis system as DIN 70000.

B.4.6.2.1.1.4 – Analysis and Results

B.4.6.2.1.1.4.2 – Suspension Kinematics Model Simulation, Storage of Results & Results

B.4.6.2.1.1.4.2.2 – Storage/Saving of Results

B.4.6.2.1.1.4.2.2.1 – Importing Results in IPG CarMaker

SKC File from IPG Kinematics is now successfully loaded in CarMaker

B.4.6.2.2.4 – Force Elements

B.4.8 – Wheel Bearing Friction

B.6.2.2 – Tire Data Set > Model Parameters

B.6.2.3 – Tire Data Set > Scaling Factors

B.6.2.4 – Tire Data Set Generator

B.6.2.6 – Generation of a New Tire Data Set

B.7.2 – Control (only for eBAJA)

 mBAJA teams must mandatorily select the Conventional Model of Powertrain.

B.8.1 – DRIVE SOURCE

B.8.1.1.3 – Fuel Consumption

B.8.1.2 – STARTER MOTOR

 In CarMaker, clutches usually are sub models of the gearbox.

B.8.1.3.2 – Torsional Spring

 Characteristic value of the clutch torsional spring constant should be specified.

 For a CVT, select Model – Continuously Variable Transmission

B.8.1.4.2.2 – Torque Loss Ratios

 Teams can select the type of their designed Driveline model.

B.8.4 – CONTROL UNIT

 PT Control Model should be selected as Generic by all the mBAJA teams.

B.8.4.2 – ECU, MCU & BCU

 For CVT, select the TCU model – Continuously Variable Transmission

 eBAJA teams must mandatorily select the Electrical Model of Powertrain.

B.9.2 – DRIVE SOURCE

B.9.2.2 – Electric Motor

B.9.2.2.1 – Electric Motor - General

B.9.2.2.2 – Electric Motor – Torque

B.9.2.2.3 – Generator – Torque

B.9.2.2.5 – Generator – Efficiency

B.9.4.1.2 – Converter HV1 LV

B.9.5 – CONTROL UNIT

 Teams have to select the MCU model as Basic.

C.2 - User Parameterized Driver & Traffic

PART D: DRIVING MANEUVER PARAMETERIZATION