**1. Introduction**

IPG CarMaker is a simulation environment used to simulate a computer representation of a real vehicle with the behaviour matching the real vehicle. In this environment, the user creates the vehicle using mathematical models that contain equations of motion kinematics, but also a multi‐ body definition of the system. The parameters are modified in accordance with the real vehicle to be studied [1].

IPG CarMaker is also used for other purposes than just pure simulation, which are as follows: it is coupled with MATLAB in order to implement new algorithms, for example vehicle state estimation using an integrated Kalman filter scheme for vehicle dynamics estimation (side slip) [2]; it is used as model‐predicting control for fuel consumption optimization of a range

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extender for a hybrid vehicle architecture (state of charge trajectory estimation) [3]; it is used as a validation of a controller for variable steering ratio of a front steering system, tested on a virtual road for driving comfort improvement [4]; it is used for solving challenging problems such as wheel slip control for electric powertrain vehicles, for anti‐lock brake and traction control functional validation (hardware‐in‐the‐loop (HIL) using IPG CarMaker coupled with dSPACE) [5] and complex hardware‐in‐the‐loop system (MATLAB Simulink model coupled with IPG CarMaker multibody vehicle model, dSPACE electronic control unit, and a real friction brake unit) for brake friction optimization and lower energy consumption [6].

Using this knowledge, it is possible to simulate any vehicle in IPG CarMaker, as long as the user knows all the necessary data. The same behaviour can be simulated for any vehicle, on the same road, with the same manoeuvres, just by changing the vehicle properties. The vehicle contains all components from the real vehicle, such as powertrain, chassis, tires, brakes, but also controllers, such as ABS (Anti-Lock Braking System), ESP (Electronic Stability Program), ACC (Adaptive Cruise Control), or other user‐modelled systems.

After defining the virtual vehicle, the user must characterize the road, that is a digitized or computer‐modelled representation of the real road (usual road, track, or course), which simulates the road and it is generated for testing. CarMaker can generate the road using the following two methods:


The third step is defining the virtual driver, which simulates the actions of a real driver. All the parameters would normally be controlled by a real driver, such as turning/steering or operating the gas, brake and clutch pedals, shifting gears (for manual transmission). For the virtual driver, there are two approaches in CarMaker:


Altogether, the virtual vehicle, the virtual driver, and the virtual road form the virtual vehicle environment.

CarMaker also has the CIT (CarMaker interface toolbox) that consists of a number of tools that run on a host computer, namely:

**•** IPG control—it is a visualization and analysis tool that can monitor quantities in real‐time, load post‐simulation data, plot, and export results;


The vehicle that was chosen for the simulation is a Tesla Model S because it is an electric car with a good range (currently using an 85‐kWh battery, from which a range of 426 km can be achieved and an energy consumption of 237.5 Wh/km) [7].
