Release Notes Version 13.

1
CarMaker

SOLUTIONS FOR VIRTUAL TEST DRIVING

 2

The information in this document is furnished for informational use only, may be revised
f r o m t i m e t o t i m e, a n d s h o u l d n o t b e c o n s t r u e d a s a c o m m i t m e n t by t h e
IPG Automotive Group. IPG Automotive Group assumes no responsibility or liability for any
errors or inaccuracies that may appear in this document.
This document contains proprietary and copyrighted information and may not be copied,
reproduced, translated, or reduced to any electronic medium without prior consent, in writ-
ing, from IPG Automotive Group.
For better readability, the masculine form is used for personal designations and words refer-
ring to persons in this documentation. In the interests of equal treatment, the corresponding
terms apply to all genders as we are an inclusive and diverse organization and we recog-
nize the diversity. The abbreviated form of language is for editorial reasons only and does
not imply any judgment.

© 1999 - 2024 by IPG Automotive Group – www.ipg-automotive.com

All rights reserved.
Fail Safe Tester, IPGCar, IPGControl, IPGDriver, IPGEngine, IPGGraph, IPGKinematics,
IPGLock, IPGMotorcycle, IPGMovie, IPGRoad, IPGRoaddata, IPGTire, IPGTrailer,
IPGTruck, RealtimeMaker, Xpack4 are trademarks of the IPG Automotive Group.
CarMaker, TruckMaker, MotorcycleMaker, RealtimeMaker, MESA VERDE are registered
trademarks of IPG Automotive Group.
Movie NX: portions of this software Copyright © 2024 Unigine. All rights reserved. Used
under license. Qt licensed under the Lesser General Public License (LGPL) version 3.
All other product names are trademarks of their respective companies.
IPG Automotive Group means any corporate body of which IPG Automotive GmbH has a
majority stake.

All CarMaker variants use several open source components. A quick overview of the com-
ponents is available in the overview document FOSS-Licenses.pdf in the /doc folder of the
installation directory.
IPGMovie in GPUSensor mode uses additional components of proprietary third-party soft-
ware. The corresponding end-user license agreements (EULA) can be found in directory
doc/EULA-3rd-Party of each CarMaker installation.

CarMaker Release Notes Version 13.1

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Contents

1 CarMaker General Information 7

1.1 CarMaker Product Family . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1.1 Licensed CarMaker Add-ons . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2.1 Host Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
1.2.2 Real-time Computer (CarMaker HIL) . . . . . . . . . . . . . . . . . . . . 15
1.3 Compatibility and Supported Standards . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3.1 Compilers and Development Toolkits . . . . . . . . . . . . . . . . . . . . 16
1.3.2 Docker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.3.3 Tire Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.4 Road Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.3.5 Scenario Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.3.6 Data Processing, Diagnostics and Validation . . . . . . . . . . . . . . 20
1.3.7 Industry Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.3.8 Hardware Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.4 CarMaker Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2 New Features of the CarMaker Product Family 13.1 27

2.1 Feature Highlights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1.2 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
2.1.3 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.1.4 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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2.1.5 Scenario Editor: Static scenario and IPGRoad . . . . . . . . . . . . . 28

2.1.6 Scenario Editor: Dynamic scenario . . . . . . . . . . . . . . . . . . . . . . 28
2.1.7 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.1.8 ECU Communication and Configuration . . . . . . . . . . . . . . . . . . 29
2.1.9 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
2.1.10 Using CarMaker with Other Components . . . . . . . . . . . . . . . . . 29
2.2 New Features Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2.2 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
2.2.3 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.2.4 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2.5 Scenario Editor: Static scenario and IPGRoad . . . . . . . . . . . . . 38
2.2.6 Scenario Editor: Dynamic scenario . . . . . . . . . . . . . . . . . . . . . . 38
2.2.7 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.2.8 ECU Communication and Configuration . . . . . . . . . . . . . . . . . . 39
2.2.9 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.2.10 Using CarMaker with Other Components . . . . . . . . . . . . . . . . . 40
2.3 Bugfixes and Other Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.2 Test Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.3.3 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.3.4 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.3.5 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.3.6 Scenario Editor: Static scenario and IPGRoad . . . . . . . . . . . . . 47
2.3.7 Scenario Editor: Dynamic scenario . . . . . . . . . . . . . . . . . . . . . . 48
2.3.8 ECU Communication and Configuration . . . . . . . . . . . . . . . . . . 49
2.3.9 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
2.3.10 Using CarMaker with Other Components . . . . . . . . . . . . . . . . . 52
2.3.11 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

3 Release History Bugfix Releases 55

3.1 Version 13.0.1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.1.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.1.2 Test Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.1.3 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.1.4 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.1.5 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.1.6 Scenario Editor: Static scenario and IPGRoad . . . . . . . . . . . . . 59
3.1.7 Scenario Editor: Dynamic scenario . . . . . . . . . . . . . . . . . . . . . . 60

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3.1.8 ECU Communication and Configuration . . . . . . . . . . . . . . . . . . 61

3.1.9 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.1.10 Using CarMaker with Other Components . . . . . . . . . . . . . . . . . 64
3.1.11 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

4 New Features of CarMaker Product Family 13.0 67

4.1 Feature Highlights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1.2 Test Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1.3 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.1.4 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
4.1.5 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.1.6 Scenario Editor: Static Scenario and IPGRoad . . . . . . . . . . . . 69
4.1.7 Scenario Editor: Dynamic Scenario . . . . . . . . . . . . . . . . . . . . . 69
4.1.8 ECU Communication and Configuration . . . . . . . . . . . . . . . . . . 70
4.1.9 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.1.10 Using CarMaker with Other Components . . . . . . . . . . . . . . . . . 71
4.1.11 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.2 New Features Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.2.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.2.2 Test Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.2.3 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.2.4 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.2.5 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
4.2.6 Scenario Editor: Static Scenario and IPGRoad . . . . . . . . . . . . 85
4.2.7 Scenario Editor: Dynamic Scenario . . . . . . . . . . . . . . . . . . . . . 90
4.2.8 ECU Communication and Configuration . . . . . . . . . . . . . . . . . 103
4.2.9 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
4.2.10 Using CarMaker with Other Components . . . . . . . . . . . . . . . . 108
4.2.11 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
4.3 Bugfixes and Other Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.3.1 CarMaker in General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
4.3.2 Test Automation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.3.3 Visualization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
4.3.4 Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
4.3.5 Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
4.3.6 Scenario Editor in General . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
4.3.7 Scenario Editor: Static Scenario and IPGRoad . . . . . . . . . . . 121
4.3.8 Scenario Editor: Dynamic Scenario . . . . . . . . . . . . . . . . . . . . 125

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4.3.9 Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

4.3.10 ECU Communication and Configuration . . . . . . . . . . . . . . . . . 128
4.3.11 Hardware in the Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
4.3.12 Using CarMaker with Other Components . . . . . . . . . . . . . . . . 131
4.3.13 Product Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
4.4 Remark for Windows Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
4.5 Remark for RealtimeMaker Users . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

5 Upgrading from Version 12.x to 13.0 134

5.1 Step 1: Project folder upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
5.2 Step 2: Updating your source code and other user specific extensions 142
5.3 Upgrading the real-time environment for CarMaker HIL . . . . . . . . . . . . 143

6 Announcements for Future Releases 144

6.1 CarMaker 14.0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

7 Software Discontinuation Process 146

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 CarMaker General Information 7
CarMaker Product Family

Chapter 1
CarMaker General Information

1.1 CarMaker Product Family

CarMaker is not a single product but rather a whole family of products whose members are
• CarMaker
• MotorcycleMaker
• TruckMaker
The product name hints at the intended field of application:
• CarMaker Office – for stand-alone and Simulink applications,
• CarMaker Office Extended - for testing real devices in an office environment and
• CarMaker HIL – for hardware in the loop applications
(variants for Xpack4 (IPG Automotive), SCALEXIO (dSPACE), PXI (National Instru-
ments))
Furthermore different editions define the available modules as depicted in the tables below:

CarMaker / MotorcycleMaker CarMaker Edition Motorcycle

Module/Feature standard pro Maker

includes all MotorcycleMaker features ✕ ✕

CarMaker GUI + Instruments ✕ ✕
MotorcycleMaker GUI + Instruments ✕ ✕
Test Manager, sequential execution ✕ ✕ ✕
Test Manager, parallel execution ✕ ✕
Test Configuration (support for Test Ware packages) ✕
Script Control ✕ ✕ ✕
IPGControl ✕ ✕ ✕
IPGMovie ✕ ✕ ✕
IPGMovie motorcycle extensions ✕ ✕
Movie NX ✕ ✕

CarMaker Release Notes Version 13.1

 CarMaker General Information 8
CarMaker Product Family

CarMaker / MotorcycleMaker CarMaker Edition Motorcycle

Module/Feature standard pro Maker

IPGCar, 1D/2D linear/non-linear kinematics ✕ ✕

IPGCar, 3D linear/non-linear kinematics ✕ ✕
IPGCar, 1D linear/non-linear compliance ✕ ✕
IPGCar, 2D linear/non-linear compliance ✕
IPGCar, FlexBody ✕
IPGCar, spring mounted engine ✕
IPGMotorcycle + motorcycle powertrain ✕ ✕
IPGTrailer ✕
IPGTire + Pacejka Magic Formula (source) ✕ ✕ ✕
IPGPowertrain, front/rear/AWD, gearbox MT/AT, micro- ✕ ✕
Hyb.
IPGPowertrain, torque vectoring, torque sensing ✕ ✕
IPGPowertrain, OpenXWD, electric hub motor interface ✕
IPGPowertrain, flexible shafts in the driveline ✕
IPGPowertrain, fuel consumption, efficiency factors ✕ ✕ ✕
IPGPowertrain, extended battery model BattECM ✕
IPGPowertrain, Parallel Hybrid ✕
IPGPowertrain, Serial Hybrid ✕
IPGPowertrain, Axle Split Hybrid ✕
IPGPowertrain, Power Split Hybrid ✕
IPGPowertrain, Electrical ✕
IPGPowertrain, Modular ✕
Steering, generic angle and torque model ✕ ✕
Steering, Pfeffer model ✕
Functional Mock-up Interface (FMI) ✕ ✕
IPGSensor, Side Slip Angle Sensor ✕ ✕ ✕
IPGSensor, Inertial Sensors ✕ ✕ ✕
IPGSensor, Object Sensors ✕ ✕
IPGSensor, Free Space Sensors ✕ ✕
(Free Space Sensor Plus is part of PSM package)
IPGSensor, Traffic Sign Sensors ✕ ✕
IPGSensor, Line Sensors ✕ ✕
IPGSensor, Road Sensors ✕ ✕
IPGSensor, Global Navigation Sensors ✕ ✕
IPGSensor, Collision Sensors ✕ ✕
IPGSensor, Object by Lane Sensor ✕ ✕
IPGSensor, Radar Hifi Sensor ✕ ✕
IPGSensor, Camera Sensor ✕ ✕
IPGSensor, Ground Truth Sensor ✕ ✕
IPGDriver, Traffic Consideration ✕ ✕
IPGDriver, racing, adaption of driving strategy ✕ ✕

CarMaker Release Notes Version 13.1

 CarMaker General Information 9
CarMaker Product Family

CarMaker / MotorcycleMaker CarMaker Edition Motorcycle

Module/Feature standard pro Maker

IPGDriver, steer by torque ✕ ✕

IPGDriver, motorcycle extensions ✕ ✕
IPGRoad, environment, background objects ✕ ✕
Real-time Expressions ✕ ✕ ✕
Encryption of data files ✕ ✕
(files are readable by both standard and pro editions)
Model Check SPMM mode ✕ ✕
IPGTraffic, basic functionality, 6 DOF objects, maneuvers ✕ ✕ ✕
IPGTraffic, maneuver “Autonomous Driver” ✕ ✕
IPGTraffic, advanced motion models (4Wheel, Ball) ✕ ✕ ✕
IPGTraffic, 2D contour for sensor calculation ✕ ✕
IPGTraffic, 3D geometry for IPGMovie visualization ✕ ✕ ✕
Conversion to Geographic Coordinate System ✕ ✕
EB Assist ADTF support ✕ ✕
Virtual bus systems including IO Configurator ✕ ✕
Universal Measurement and Calibration Protocol (XCP) ✕ ✕

TruckMaker
TruckMaker Edition
Module/Feature
pro
includes all CarMaker pro and MotorcycleMaker features ✕
Truck, max. number of axles 6
Truck, max. number of steerable axles 2
Truck, max. number of lift-axles 2
Truck, drivetrain: 4x2, 4x4 ✕
Truck, drivetrain: 6x2, 6x4, 6x6 ✕
Truck, drivetrain: 8x2, 8x4, 8x6, 8x8 ✕
Truck, drivetrain: 10x4 ✕
Truck, drivetrain: 12x4 ✕
Truck, drivetrain: retarder ✕
Truck, spring mounted drivers cab and platform ✕
Truck, brake system: brake force distribution (BFD) ✕
Truck, brake system: hydraulic ✕
Truck, power steering model ✕
Truck / Trailer, brake system: pneumatic ✕
Truck / Trailer, axles type: rigid, single carrier ✕
Truck / Trailer, wheels: single, twin ✕
Trailer, trailer type: semi, center axle, drawbar (full) ✕
Trailer, max. number of axles 3
Trailer, max. number of steerable axles (full trailer) 1

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 CarMaker General Information 10
CarMaker Product Family

TruckMaker
TruckMaker Edition
Module/Feature
pro
Trailer, max. number of lift-axles 2
Trailer, brake system: overrun brake, BFD ✕
Trailer, frame torsion1 ✕
Trailer, coupling of second trailer (Gigaliner) ✕
1. Currently under development, ask for latest information about availability

Feature Support for Different Target Architectures

X = IPG solution, (req) = on request,
(vs) = real-time system vendor solution (National Instruments or dSPACE)

CarMaker Office CarMaker Office Extended

Feature CarMaker
Windows Linux for Windows Linux
Simulink
FMI Support ✕ ✕ ✕ ✕ ✕
TameTire 1 ✕ ✕ ✕ ✕ ✕
MF-Tyre/MF-Swift ✕ ✕ ✕ ✕ ✕
FTire ✕ ✕ ✕ ✕ ✕
ADTF ✕ ✕ ✕ ✕ ✕
GPU-based Sensors ✕ ✕ ✕ ✕ ✕
Camera HiFi Sensor ✕ ✕ ✕ ✕ ✕
TestManager parallel ✕ ✕
execution mode
Fail Safe Tester Support
CAN ✕ ✕
EtherCAT
FlexRay
Automotive Ethernet
SOME/IP
M-Modul I/O
CCP/XCP ✕ ✕ ✕ ✕ ✕
CockpitPackage Std. ✕ ✕ (req) ✕ ✕
CockpitPackage Pro ✕ ✕
Sim Net ✕ ✕
1. CarMaker and TruckMaker, not available for MotorcycleMaker

CarMaker HIL CarMaker/TestBed1

Feature Xpack4 PXI SCALEXIO Xpack4
others
IPG NI dSPACE IPG
FMI Support ✕ ✕ (req) ✕ (req)
TameTire 1

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 CarMaker General Information 11
CarMaker Product Family

CarMaker HIL CarMaker/TestBed1

Feature Xpack4 PXI SCALEXIO Xpack4
others
IPG NI dSPACE IPG
MF-Tyre/MF-Swift ✕ ✕2 ✕ (req)
FTire
ADTF ✕ (req) (req) ✕ (req)
GPU-based Sensors ✕ ✕ ✕ ✕ (req)
Camera HiFi Sensor ✕ ✕
TestManager parallel execution mode
Fail Safe Tester Support ✕ ✕ (req) ✕ (req)
CAN ✕ ✕ 3 ,(vs) (vs) ✕ (req)
EtherCAT ✕ (vs) (vs) ✕ (req)
FlexRay ✕ (vs) (vs) ✕ (req)
Automotive Ethernet ✕ ✕
SOME/IP ✕ ✕
M-Modul I/O ✕ ✕4 ✕ (req)
CCP/XCP ✕ ✕,(vs) (vs) ✕ (req)
CockpitPackage Std. ✕ ✕ ✕ ✕
CockpitPackage Pro ✕ ✕ ✕
Sim Net ✕
1. CarMaker and TruckMaker, not available for MotorcycleMaker
2. not available for 64-bit targets
3. internal access via C API
4. except M51 and M72

1.1.1 Licensed CarMaker Add-ons

In addition to the CarMaker product family described above, the following CarMaker add-
ons are available. They are not part of the CarMaker standard or pro license but need a
license extension.

(req) = on request

Available for
License Option Motorcycle-
CarMaker TruckMaker
Maker
Physical Sensor Models (PSM) ✕ ✕ ✕
Raw signal interfaces1
- Free Space Sensor Plus
- Camera RSI
- Lidar RSI
- Radar RSI
- Ultrasonic RSI
Multi-body System Suspensions ✕ ✕
High resoluted multi-body system suspension
models

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 CarMaker General Information 12
System Requirements

Available for
License Option Motorcycle-
CarMaker TruckMaker
Maker
Sim Net ✕ ✕ ✕
Simulating a traffic scenario with several ego vehi-
cles
Cockpit Package standard/pro ✕ ✕
Interface for driving simulators
Here Map Interface ✕ ✕ ✕
Export of roads and road networks from HERE
ADAS RP and HERE HD Live Maps
Exchange of road information during simulation
with HERE ADAS RP
1. Physical Sensor Models (PSM) are licensed token based. Each PSM license is
equivalent to 4 tokens. One token can be used for one instance of Free Space Sen-
sor Plus, Camera RSI, Lidar RSI and Radar RSI or one group of Ultrasonic RSI
sensors bundled on one GPU Sensor process.

1.2 System Requirements

1.2.1 Host Computer
CarMaker software components run on any host PC matching the following criteria:

Minimum System Requirements

• CPU
Intel Core-i3/i5/i7, Intel XEON or AMD Ryzen, 2 GHz or better
• Main memory
4096 MB RAM
Rest Bus Configurator
16 GB RAM recommended, when using large data bases (e.g. loading an AUTOSAR
data base of 2 GB requires at least 12 GB RAM).
• Free disk space
2GB (4 GB recommended)
• Graphics adapter
Adapter with OpenGL 2.1 hardware acceleration, 512MB video RAM,
for full functionality an adapter with OpenGL 4.3 support and 1024MB or more video
RAM is needed, preferably NVIDIA GeForce / Quadro or AMD based cards.
Note, that most desktop virtualization techniques do not fulfill these requirements.
For complex scenes and good performance the card should use DDR5 RAM with data
bus width >=128bit and it should have more than 500 shader cores.
This CarMaker version is approved for NVIDIA driver version 536.23 for Windows resp.
version 525.147 for Linux OS and CUDA driver version 11.8.

For Linux users: The libraries libOpenGL.so, libGLX.so and libEGL.so need to be
installed. See table 1.1 for the corresponding package names in the repositories. For
the usage of IPGMovie, version 1.5 or higher of the XRandR configuration utility is
required.

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 CarMaker General Information 13
System Requirements

Intel Chipsets: Only Intel HD Graphics, HD 3000 or better are supported (however, we
strongly recommend to use NVIDIA or AMD graphics cards).

Table 1.1: Package names in the supported Linux distributions

Distribution Dependencies
Ubuntu 20.04 libopengl0
Ubuntu 22.04 libglx0
libegl1
RHEL 8 libglvnd-opengl
libglvnd-glx
libglvnd-egl

Free Space Sensor Plus

To be able to use the Free Space Sensor Plus, specific hardware is required (only
working on a 64-bit system):
- Recommended: A dedicated GPU with the latest OpenGL 4.3 drivers supporting the
following OpenGL extensions: GL_ARB_compute_shader,
GL_ARB_shader_storage_buffer_object
- Minimum: A CPU with integrated graphics (Intel Haswell generation or newer) and
up to date drivers.
Camera HiFi Sensor
For the usage of the Camera HiFi Sensor libtinfo.so.5 is required. Therefore install from
the official repositories the package libtinfo5 for Ubuntu or ncurses-compat-libs for
RHEL.
Radar RSI / Ultrasonic RSI / Lidar RSI Sensors
In order to use the Radar RSI / Ultrasonic RSI / Lidar RSI sensors the following system
requirements have to be met (only working on a 64-bit system with NVIDIA graphic
cards as below):
- Recommended: NVIDIA RTX 2070 Super with 8GB memory (or better).
- Minimum: NVIDIA GPU with 4GB memory, Kepler architecture and compute capa-
bility 5.0.
Approved for NVIDIA driver version 536.23 for Windows resp. version 525.147 for Linux
OS and CUDA driver version 11.8.
On the NVIDIA developers website (https://developer.nvidia.com/cuda-gpus) you can
check if the compute capability of your own GPU is sufficient.
Please note the platform specific restrictions for the usage of these sensors in multi
GPU configuration in the IPGMovie User Manual, section 1.2.2 ’Options for the GPU
Sensor on single and multi-GPU configurations’.
Movie NX
Movie NX may run on many systems that are not older than 4 years, but for the best
experience, we recommend the following:
- CPU: 6 cores or more; RAM: 16GB or more
- GPU: DirectX12 / Vulkan compatible (NVIDIA GeForce RTX 2070 or better); VRAM:
8 GB or more
- DirectX11 and OpenGL 4.5 are still supported in this version, but this support will
be dropped in the next version
- HDD: 3GB free
• Screen resolution:
1280x1024 or better (1920x1050 / 1920x1200 recommended), 24/32-bit true color

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 CarMaker General Information 14
System Requirements

• Network connection:
- To be able to use a nodelocked license for IPG products, at least one physical net-
work adapter is required. This is not the case for other licensing models such as
dongle or floating licenses.
- Using a floating license with CarMaker HIL requires a direct network connection
from the real-time system to the license server. In case the company restrictions do
not allow a real-time system accessing the company network, please contact the
CarMaker support team for further instructions.
• CarMaker Office Extended
For an optimal performance, the host computer should meet these requirements:
- Mid-range CPU, e.g. Intel i5-10400 or AMD Ryzen 5 3600
- 16 GB RAM

Supported Operating Systems

• The following Microsoft Windows editions are supported:
- Windows 10 x64 edition
- Windows 11 x64 edition
- Windows Server 2019 (for CarMaker Office only)
- Windows Server 2022 (for CarMaker Office only)
• The following Linux distributions are supported (not available for CarMaker HIL for
SCALEXIO (dSPACE) and PXI (National Instruments) due to vendor restrictions):
- Ubuntu Linux 20.04 and 22.04 LTS (64-bit only)
- Red Hat Enterprise Linux version 8. Recommended base environment is GNOME
desktop and the Development Tool environment add-on (64-bit only).
The X11 display server needs to be used. Wayland is not supported.

Supported System Software

• CarMaker HIL for SCALEXIO (dSPACE):
- dSPACE releases 2021-A up to 2023-B in combination with SCALEXIO processing
units (includes SCALEXIO LabBox with DS6001 processor board).
• CarMaker HIL for PXI (National Instruments):
- National Instruments LabVIEW and VeriStand versions 2021 and 2023 running on
NI’s PXI platform with Phar Lap ETS or NI Linux Real-Time operating system.
Minimum requirements for Linux real-time systems:
- Base system image: Linux RT system image 2022 Q4 (Download: https://
www.ni.com/en-us/support/downloads/software-products/download.ni-linux-rt-sys-
tem-image.html#460229)
- GNU C & C++ compilers for x64 Linux 2018-2019 (Download: https://www.ni.com/
en-us/support/downloads/software-products/download.gnu-c---c---compile-tools-
x64.html#338442)
For more information on using CarMaker HIL with National Instruments hardware, see
Programmer’s Guide section 1.9 ’Using CarMaker HIL with National Instruments Hard-
ware’.

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 CarMaker General Information 15
Compatibility and Supported Standards

1.2.2 Real-time Computer (CarMaker HIL)

CarMaker HIL for Xpack4 (IPG Automotive) runs on following single board computers:

Single Board Computer

MEN F23P00 / Celeron dual core MEN F23P01 / Core i7 quad core

EKF PC7

CarMaker HIL for SCALEXIO (dSPACE) runs on any recent SCALEXIO Processing Unit,
equipped with Intel XEON processors, such as:

dSPACE SCALEXIO Processing Hardware

SCALEXIO Processing Unit for High Core Performance (XEON E3-1275vx)
SCALEXIO Processing Unit for High Parallel Performance (XEON E5-2640v3)
SCALEXIO LabBox with DS6001 processor board1
1. Running CarMaker HIL on a LabBox with DS6001 processor board requires a
special hardware setup. Refer to User’s Guide CarMaker HIL, section 2.2.4 ’Car-
Maker with SCALEXIO LabBox (DS6001)’.

dSPACE SCALEXIO Processing Unit

Intel XEON E3-1275v3 Intel XEON E5-2640v3

CarMaker HIL for PXI (National Instruments) runs on all recent PXI / PXIe real-time sys-
tems, running Phar Lap ETS (NI ETS) or NI Linux Real Time operating system. CarMaker
HIL was tested successfully with the following real-time controllers:

NI Real-Time Controller
PXI 81xx PXIe 81xx
PXIe 88xx

1.3 Compatibility and Supported Standards

This section provides an overview of CarMaker’s compatibility to third party tools as well as
supported industry standards. Please note, that none of the tools listed in this chapter is
required for working with CarMaker.

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 CarMaker General Information 16
Compatibility and Supported Standards

1.3.1 Compilers and Development Toolkits

GNU Toolchain
On Linux systems the CarMaker executable can be rebuilt using the GNU Toolchain.
Depending on the Linux distribution it might be necessary to install certain additional pack-
ages using the systems package manager. Please refer to the following table for a detailed
list of required packages for the supported distributions.

Table 1.2: Recommended packages for rebuilding the CarMaker executable

Operating System Packages

Ubuntu 20.04 make
Ubuntu 22.04 libusb-1.0-0-dev
gcc
g++1
RedHat 8 make
libusbx-devel
gcc
gcc-c++1
1. Consider important remarks in the Programmer’s Guide, section ’Using GCC’

CMake
CarMaker’s GPU Coding Interface is compatible with CMake installation of version 3.14 or
higher.

CUDA
CarMaker’s GPU Coding Interface is compatible with the CUDA runtime version 11.8 com-
bined with a graphic card driver of the same version or newer.

Eclipse
CarMaker is compatible with Eclipse C/C++ Development Toolkit (CDT) version 2022-03 up
to version 2023-06.

Microsoft Visual Studio

CarMaker supports Microsoft Visual C++ version 2022.
Example solutions and project files (*.sln, *.vcxproj) for supported MS Visual Studio ver-
sions are included in the Car-, Truck- and Motorcycle project directories coming with Car-
Maker.

MinGW/MSYS environment
The MSYS compiler is provided with the CarMaker installation package. The currently sup-
ported version is the MSYS-2023 environment with gcc/g++ 11.3.0 and XENO cross com-
piler 11.3.0.

MATLAB
A MATLAB installation is required to run CarMaker for Simulink and CarMaker HIL for
SCALEXIO (dSPACE). Regarding CarMaker HIL for SCALEXIO (dSPACE), the supported
MATLAB versions depend on what MATLAB versions are supported by the used dSPACE

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 CarMaker General Information 17
Compatibility and Supported Standards

software release.
For all other CarMaker variants (except of CarMaker for Simulink), a MATLAB installation is
not required to work with CarMaker.
Each CarMaker release includes support for e.g. the integration of Simulink models via Sim-
ulink Coder including the use of Simscape blocks. Accessing CarMaker data in the MATLAB
workspace and in m-file scripts is supported as well.
CarMaker is compatible with following versions of MATLAB (64-bit) on Linux and MS Win-
dows:
• MATLAB 9.10 (Release 2021a)
• MATLAB 9.11 (Release 2021b)
• MATLAB 9.12 (Release 2022a)
• MATLAB 9.13 (Release 2022b)
• MATLAB 9.14 (Release 2023a)
• MATLAB 23.2 (Release 2023b)
Please note the MATLAB-related information in chapter ’Announcements for Future
Releases’.

Python
CarMaker test benches can be automated with the help of Python scripts. This requires the
installation of the CarMaker Python API add-on package. The CarMaker Python API add-
on contains a Python implementation of the ASAM XIL interface for CarMaker, the CarMak-
er Python API core (cmapi) and associated Python bindings for APO and Info Files.
The CarMaker Python API add-on with version 13.0 is compatible with the following Python
versions:
• Python 3.7m
• Python 3.8
• Python 3.9
• Python 3.10
• Python 3.11
Python scripts that are executed on Xpack4 real-time systems need to be compatible to
Python version 3.4 and may not address features of Python 3.5 and newer.

National Instruments LabVIEW / VeriStand

Using CarMaker HIL for PXI (National Instruments) requires a NI PXI or NI PXIe real-time
system, running Phar Lap ETS (NI ETS) NI Linux Real-Time as LabVIEW real-time oper-
ating system. Other NI real-time controllers running VxWorks are not supported.
In combination with VeriStand, the integration of CarMaker HIL is realized via a VeriStand
custom device. The CarMaker HIL custom devices are located in the sub directory Misc-
l vrt o f t h e i n s t a l l e d C a r M a ke r ve r s i o n ( e. g . C:\IP G\car mak er\w in64-
<version>\Misc-lvrt\VeriStand_Custom_Devices\VeriStand2020 for VeriStand
2020). For an update within VeriStand, its contents need to be copied manually into the
<Common Data> directory of VeriStand (e.g. <Public Documents>\National
Instruments\NI VeriStand 2020\Custom Devices for VeriStand 2020).
Running CarMaker HIL may require the installation of additional NI software components
on the PXI(e) real-time system:
• LabVIEW Real-Time Module

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 CarMaker General Information 18
Compatibility and Supported Standards

• LabWindows/CVI Run-Time Engine for RT

• NI VeriStand Engine1
• NI-CAN2
• NI-XNET2
• NI-VISA3

1.3.2 Docker
CarMaker can be operated in Docker environments with base images of any kind of oper-
ating systems supported by CarMaker according to section 1.2.1 ’Host Computer’. To cre-
ate a docker container to run a CarMaker Test Run the following software packages need
to be installed in the container:

Table 1.3: CarMaker dependencies

Base Image Dependency

ubuntu libusb-1.0-0-dev
tzdata1
rhel libusb
1. Required to set time zone in the container

To run certain CarMaker GUI features or IPGMovie in a container the nvidia/cudagl base
images are required. To run these images the nvidia-docker runtime is required (installation
instructions see: section 28.3 ’CarMaker with RSIs’ in the Programmer’s Guide), which is
available for current Ubuntu and RHEL releases. The following dependencies are required
in the respective base images:

Table 1.4: CarMaker GUI / IPGMovie Dependencies

Base Image Dependencies

nvidia/cudagl (Ubuntu) libusb-1.0-0-dev
tzdata
xvfb
libglu1-mesa
libxrandr-dev
libxft2
libxss1
nvidia/cudagl (RedHat) libusb
xorg-x11-server-Xvfb
libXScrnSaver
mesa-libGLU
libXrandr
libXft

Note that only IPGMovie instances based on EGL (MovieEGL.exe) can be run inside a nvid-
ia container.
All steps required to run CarMaker in a docker container are explained in the Programmer’s
Guide, section ’Using CarMaker with Docker’.

1. Required for VeriStand

2. Needed, when CarMaker HIL requires direct access to CAN interfaces (e.g. for Fail Safe Tester use)
3. Needed for support of USB devices and M modules

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 CarMaker General Information 19
Compatibility and Supported Standards

1.3.3 Tire Models

FTire
CarMaker is compatible with Cosin FTire versions 2023-1 up to 2023-3. Please also note
the list of supported platforms under section ’Feature Support for Different Target Architec-
tures’.

MF-Tyre/MF-Swift
CarMaker is compatible with TASS Delft-tyre MF-Tyre/MF-Swift 2306. Please also note the
list of supported platforms under section ’Feature Support for Different Target Architec-
tures’.

TameTire
CarMaker is compatible with Michelin TameTire 6.3. Please also note the list of supported
platforms under section ’Feature Support for Different Target Architectures’.

1.3.4 Road Data

HERE Map Interface

For using ADAS RP with CarMaker the following HERE Map Interface plug-ins are provided:
• CarMakerRoad
• CarMakerCommunication
• CarMakerSensorService
Supported versions and compatibility:

ADAS RP Version Created with

v2018.1 MS VisualStudio 2015 (VS14, MSVC 19.0)

HERE HD Live Map

Road data can be generated by using the HERE HD Live Map Import which is accessed via
the HERE HD Live Map Service’s Data Store API.

Keyhole Markup Language (KML) Files

Road data from Google Earth or Google Maps provided as KML file based on WGS84-coor-
dinates is supported version independent. The altitude needs to be set to “Relative to
ground”.

OpenDRIVE
Road scenarios created in OpenDRIVE (*.xodr files) are supported according to Open-
DRIVE versions 1.4 up to 1.7.

Google Earth Pro

For visualization of real world road data via the IPGMovie option Connect GoogleEarth,
Google Earth Pro version 7.3 is supported.

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 CarMaker General Information 20
Compatibility and Supported Standards

1.3.5 Scenario Data

CarMaker’s OpenSCENARIO Converter supports OpenSCENARIO versions 1.0.0, 1.1.0
and 1.2.0 with OpenSCENARIO API version 1.3.0.

1.3.6 Data Processing, Diagnostics and Validation

ETAS INCA
CarMaker is compatible with ETAS INCA versions 6.2 to 7.1.

1.3.7 Industry Standards

ASAM FIBEX
The FIBEX versions 2.0, 3.0.0, 3.1.0 and 4 are supported.

ASAM XIL API

CarMaker provides an implementation of ASAM XIL API version 2.1.0. The XIL API inter-
face is based on Python, implementing the Testbench API layer for access to the simulation
model via ModelAccess Port (MAPort). The XIL API Python interface is included in the Car-
Maker Python API Add-on and must be installed separately.

AUTOSAR
CarMaker rudimentary supports AUTOSAR CLASSIC PLATFORM version 4.x. However,
support for any AUTOSAR database cannot be guaranteed. Project specific adaptions may
be required.

CANdb
The CANdb support was developed based on CANdb++ version 2.5 from Vector Informatik
GmbH. Compatibility to CAN databases that were created with other versions of CANdb++
cannot be guaranteed.

EB Assist ADTF
CarMaker is compatible with ADTF 3.15.5. Newer versions of the same major release are
likely to work as well. The supported DDL file versions are 1.0+, 1.02 and 2.0.
Platform availability: CarMaker Office, CarMaker Office Extended, CarMaker HIL for
Xpack4.

Functional Mock-up Interface (FMI)

CarMaker supports FMI standard versions 1.0, 2.0, 2.0.1 and 3.0. Furthermore, the Func-
tional Mock-up Unit (FMU) of version 1.0 needs to follow the specification “FMI for Co-Sim-
ulation Stand Alone”. Both pre-compiled and source code FMUs are supported.
Regarding OSI Sensor Model Packaging FMUs, the following combinations for FMI stan-
dard version 2.0 are supported:
• OSMP 0.3
• OSMP 1.0

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 CarMaker General Information 21
Compatibility and Supported Standards

Measurement Data Format (MDF)

CarMaker supports the Measurement Data Format (MDF) as output format of simulation
results. The produced MDF files are compliant to MDF standard version 4.1.0, specified by
the ASAM Group.

Rinex Files
CarMaker supports the navigation message files describing satellite movements for GPS
satellites provided by the NASA. Only files with extension “n.Z” are accepted.

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 CarMaker General Information 22
Compatibility and Supported Standards

1.3.8 Hardware Support

Carrier boards and M-Modules

IPG Modules

Supported since Current

Type Description
CarMaker release Revision
D1000 6U M-Module Carrier 4 Slots 6.0 1.5
F1000 Ext. 3U M-Module Carrier 2 Slots
F1001 3U M-Module Carrier 1 Slot 6.0 1.6
M400 6 Ch. Active Wheelspeed Generator with < 4.5 4.9
Sensor Emulations
M401 RS422 Frequency Generator < 4.5 2.0
M402 Engine Signal Generation < 4.5 2.1
M403 Engine Signal Detection < 4.5 2.3
M404 8 Ch. Arbitrary Waveform Generator < 4.5 2.2
M405 12 Ch. LIN Interface < 4.5 2.2
M406 8 Ch. PSI5 Interface Master/Slave < 4.5 2.2
M407 SPI Interface with MEMS Emulation < 4.5 2.1
M408 20 Ch. PWM-/Binary-In < 4.5 3.0
M409 PowerSupply-Control and Multipurpose-I/O < 4.5.4 3.1
M410 4 Ch. CANFD-/CAN-Interface 4.5.6 1.3
M410-02 4 Ch. CANFD-/CAN-Interface with SIC 4.5.6 1.3
Transceivers
M411 8 Ch. Power Monitor 5.0 1.5
M412 6 Ch. Park Sensor Simulation < 4.5.4 2.6
M413 5 Ch. Mux-/DeMux 4.5.4 2.1
M414 SENT / SENT-SPC Master/Slave < 4.5.4 1.3
M415 Universal Motor Encoder Interface 10.2 1.4
M417 12/16 Ch. Analog Out 11.1.1
M440 Resistor Cascade < 4.5 1.2
M441 16 Ch. PWM-/Binary-Out < 4.5 4.1

MEN/DUAGON Modules

Supported since
Type Description
CarMaker release
D203 6U M-Module Carrier 4 Slots 2.0
F204 3U M-Module Carrier 1 Slot 2.0
F205 Ext. 3U M-Module Carrier 2 Slots 2.0
M27 16 Digital Optocoupler Outputs Low-Side 2.x
Switching
M28 16 Digital Optocoupler Outputs High-Side 2.x
Switching

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 CarMaker General Information 23
Compatibility and Supported Standards

Supported since
Type Description
CarMaker release
M31 16 Digital Optocoupler Inputs High-Side 2.x
Switching
M32 16 Digital Optocoupler Inputs Low-Side 2.x
Switching
M35 8/16 Analog Inputs, 14 Bit 2.x
M36N 8/16 Analog Inputs, 16 Bit 2.x
M43 8 Relay Outputs 2.x
M62 16 Analog Outputs 2.x
M77N 4 UARTs, RS232, RS422, or RS485
M81 16 Binary Outputs 2.x

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 CarMaker General Information 24
Compatibility and Supported Standards

Fail Safe Tester

Supported since
Type Description
CarMaker release
FST-CC Fail Safe Tester Controller < 4.5
FST-SRC Standard Relay Card (5A) < 4.5
FST-HCRC High Current Relay Card (30A) < 4.5
FST-RC50A High Current Relay Card (50A) < 4.5
FST-HVC High Voltage Relay Card < 4.5
FST-PRC Programmable Resistor Card < 4.5
FST-VSC Voltage Supply Card < 4.5

Sidecards and extensions

Supported since CarMaker

Type Description
release
ISC-0 3U extension for PC7 10.1
with SD card slot
ISC-1 3U extension for PC7 11.1.1
with Quad 2,5G ETH and
SD card slot
CN7-REVERB CPCI 5-Port Gigabit Ether- 9.x
net Hostadapter
CN8-REVERB CPCI 5-Port Gigabit Ether- 9.x
net Hostadapter
SN1-REVERB CPCI Serial 5-Port Gigabit 9.x
Ethernet Hostadapter

CAN Modules for CarMaker Office Extended

CarMaker Office Extended support the following CAN interfaces from PEAK-System Tech-
nik GmbH.

PEAK-System Technik GmbH

PCAN-USB PCAN-USB FD
PCAN-USB Pro PCAN-USB Pro FD

CarMaker Office Extended support the following devices from Vector Informatik GmbH.

Vector Informatik GmbH

VN1610 VN1630
VN7640

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 CarMaker General Information 25
CarMaker Distribution

1.4 CarMaker Distribution

A CarMaker distribution comprises several components versioned independently and
installed separately as shown in the table below. Note that not necessarily all of the listed
components are present in all CarMaker distributions delivered to customers.
The indicated version of a component represents the most up-to-date version that was
available at the time of the CarMaker release described in this document. Because of com-
ponent updates occurring between CarMaker releases, the indicated version might be
slightly older than the one actually delivered to customers.
For <ARCH> substitute the architecture of the host computer where CarMaker will be
installed, i.e. either linux64 or win64. Special cases are denoted as follows:
• (linux) – Only on Linux systems,
• (win) – Only on MS Windows systems

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 CarMaker General Information 26
CarMaker Distribution

CarMaker Office

Component Version Filename

CarMaker Office 13.1 CarMaker-<ARCH>-13.1.txz
Development Kit 2023-4 msys-2023-4.txz(win)
(optional on MS Windows,
not needed on Linux)

CarMaker Office Extended

Component Version Filename

CarMaker Office Extended 13.1 CarMaker-<ARCH>-13.1_extended.txz
Development Kit 2023-3 msys-2023-4.txz(win)
(optional on MS Windows,
not needed on Linux)

CarMaker HIL for Xpack4 (IPG Automotive)

Component Version Filename

CarMaker HIL 13.1 CarMaker-<ARCH>-xeno-13.1.txz
Hardware documentation 13.1 CarMaker-docHW-xeno-13.1.txz
Development Kit 2023-4 msys-2023-4.txz(win)
(optional on MS Windows,
not needed on Linux)

CarMaker HIL for SCALEXIO (dSPACE)

Component Version Filename

CarMaker HIL 13.1 CarMaker-win64-dsrt-13.1.txz

CarMaker HIL for PXI (National Instruments)

Component Version Filename

CarMaker HIL 13.1 CarMaker-win64-lvrt-13.1.txz
CarMaker-win64-nilrt-13.1.txz
Development Kit 2023-4 msys-2023-4.txz(win)
(optional on MS Windows)

Components common to all CarMaker distributions

Component Version Filename

Movie NX 13.1 MovieNX-<ARCH>-13.1.tgz
IPGMovie data 13.0 CarMaker-IPGMovieData-13.1.txz
IPGControl 3.0.14 control-<ARCH>-3.0.14.txz
IPGGraph 2.9.1.1 graph-<ARCH>-2.9.1.1.txz
Tcl / Tk (optional) 8.6.9

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 27
Feature Highlights

Chapter 2
New Features of the CarMaker Product
Family 13.1

2.1 Feature Highlights

2.1.1 CarMaker in General

Real-time Expressions
• New Real-time Expression functions:
- exists(var), try(var) and try(var,expr)
- modfloor, deltamod, distmod
- Angle and RelativeAngle
• New option for coordinate system "world" for the measure calculation

Python API
• Added simulation mode “Model Check” to the CarMaker Python API

2.1.2 Visualization

Movie NX
• New visualization of rain effects in Movie NX
• Separated adjustment of vertical and horizontal field of view via slider in camera set-
tings
• Operation of mirror mode via Camera Settings menu or Python API
• New status display showing the current connection state and simulation status
• New system info dialog providing useful system information
• New option in View menu allowing to hide the IPG logo
• Road Preview using Movie NX

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 28
Feature Highlights

• Update to UNIGINE version 2.18.0.1

• Command line parameters for cache handling

3D assets
• Several new vehicle and trailer models in the 3D object library
• Extended light signal mapping emissive surfaces to all asset components
• Support for material id parameterization in gltf models

2.1.3 Vehicle

Car

Powertrain
• TCU model DCT + AMT supporting powertrain AxleSplit
• Additional shift map for SelectorCtrl_S

Tire
• Tire-Generator: new tire dimensions 275/40R21, 285/45R22 and 305/35R21

2.1.4 Sensors

RSIs in general
• Improved ray tracing results by introducing material id textures for existing HD scenari-
os in Movie NX
• Sychronized updates for visualization and Video Interface Box (VIB) GPU sensor
instances of Movie NX and IPGMovie

2.1.5 Scenario Editor: Static scenario and IPGRoad

Road API
• Road API extension: Export rd5 files to OpenDRIVE®

2.1.6 Scenario Editor: Dynamic scenario

Maneuver in general
• New reference points for start positions
• New option for Follow Trajectory to automatically adjust the start of the trajectory when
the object is not at the start of the trajectory
• New teleport mode for Follow trajectory

Maneuver for traffic objects

• New option for Follow Trajectory to smooth polyline trajectories.

IPGDriver
• Check for motorway exits during overtaking

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 New Features of the CarMaker Product Family 13.1 29
Feature Highlights

2.1.7 Environment
• New parameter set for snow and ice in the material library

2.1.8 ECU Communication and Configuration

Rest Bus Configuration (RBS)

• Secure Onboard Communication (SecOC):
- Extension of crypto functions
- Manipulation of Freshness & AuthInfo signals via DVA

2.1.9 Hardware in the Loop

CarMaker for Real-time Applications for Xpack4 (IPG Automotive)

Xeno-rt
• Update to Xeno-rt 13.1 including:
- update miodrv.ko for KPA master distributed clocks
- update mioutil to version 4.15
- update dropbear to version 2024.84
- add missing symbolic link /lib64/libtinfo.so.5
- update EtherCAT components to version 13.1

IO Configurator
• New supported modules:
- M401 Frequency generator and frequency meter
- M418 and M418-01 16 bits analog inputs
- ISC-1 Quad 2.5G Ethernet sidecard for PC7 SBC
• Extended support for M414:
- Built-in function for counters
- Extended number of tx nibbles
- Increased number of serial messages
• M405: Increase of LIN messages

CarMaker for Real-time Applications for SCALEXIO (dSPACE)

• Support for dSPACE 2023-B

2.1.10 Using CarMaker with Other Components

IPGTools

APO Communication Module

• New APO version 2.2 with new functions to identify clients and their IP address

OpenSCENARIO Converter
• Support of the OpenSCENARIO FollowTrajectoryAction with CarMaker maneuver Fol-
lowTrajectory

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Feature Highlights

Third-party tools

MATLAB
• Support for MATLAB releases 23.2 R2023b and 9.10 R2021a
• CarMaker Simulink Coder plug-ins with versioning

Functional Mock-up Units (FMU)

• Mapping of local FMU variables to the Data Dictionary
• Platform specific target directories

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New Features Detailed Description

2.2 New Features Detailed Description

2.2.1 CarMaker in General

Real-time Expressions
• New Real-time Expressions functions:
- exists(var): returns 1 in case variable var (internal variable or User Accessible
Quantity) exists, otherwise returns 0.
- try(var): tries to access variable var, returns 0 if var does not exist.
- try(var,expr): tries to access variable var. If var does not exist, expr will be evaluat-
ed and returned. expr can be any term, e.g. a constant, a function call or an assign-
ment.
- modfloor(a,m): calculates the modulo using floored division which always leads to a
positive result.
- deltamod(a,b,m): calculates the offset of two values considering a modulo.
- distmod(a,b,m): calculates the distance between two values considering a modulo.
This is defined as the absolute value of deltamod(a,b,m).
Please find more information in the User’s Guide, section B.2.2 ’Built-in Functions’.
- Angle: calculates an entity’s (traffic object or ego vehicle) angle in a specified coordi-
nate system and in a specified direction in radians. Either the heading, pitch or roll
direction can be evaluated.
- RelativeAngle: calculates an entity’s angle in relation to a reference entity in a spec-
ified coordinate system and in a specified direction in radians.
Please find more information in the User’s Guide, section B.2.3 ’Distance and Time
Measurements’.
• New option for coordinate system "world" for the measure calculation
A third option for coordinate system "world" for the measure calculation is available.
This option means a calculation of cartesian distances in the world coordinate system.
Please find more information in the User’s Guide, section B.2.3 ’Distance and Time
Measurements’.

Python API
• Added simulation mode “Model Check” to the CarMaker Python API
The simulation mode “Model Check” can now be specified for a variation object. This
simulation mode performs the Model Check procedure on the variation and saves the
output result files in the ModelCheck subdirectory of the SimOutput folder in the project
directory. This will yield results equivalent to a Model Check performed with the Car-
Maker GUI, but without the extended analysis and visual processing in IPG Graph.
Please find more information in the CarMaker Python API Reference available under
Additional Documents in the Help menu of the CarMaker main GUI.

2.2.2 Visualization

Movie NX
New visualization of rain effects in Movie NX
Movie NX introduces a new system for visualizing rain effects. This also replaces the
old rain effects. This release specializes in the visualization of different rain effects with-
in a Test Run depending on the environment rain rate. This includes, among other
things, the visualization of precipitation, the formation of puddles of varying intensity

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New Features Detailed Description

and even completely flooded roadways. The precipitation also affects the wet road sur-
face through the formation of visible capillary waves (ripples). Vehicles are dynamically
influenced by precipitation as raindrops also accumulate on the bodywork and win-
dows. Please find more information in the Reference Manual, section 4.6 ’Weather
Effects in Movie NX’.

Figure 2.1: Wheel rain spray and rain droplets on the windshield in Movie NX

Known issues:
- Precipitation visible with depth coloration modes and depth output formats in combi-
nation with weather effects.
- Rain effects can sometimes be visible inside the vehicle, especially towards the out-
side, caused by precision differences. When the camera is pointing vertically down-
wards, rain effects can also be noticed.
• Separated adjustment of vertical and horizontal field of view via slider in camera
settings
The camera’s field of view can now be set independently in horizontal and vertical

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New Features Detailed Description

direction. A slider was added for a more convenient adjustment of the field of view to
the Basic tab in the Camera Settings menu. Please find more information in section
6.2.1 ’"Basic" Tab’ of the Movie NX User Manual.

Figure 2.2: Horizontal and vertical field of view settings in Movie NX

• Operation of mirror mode via Camera Settings menu or Python API

Both a new widget in the Camera Settings dialog and an extension of the Python API
allow operating the mirror mode of a specific camera. The mirror mode is set on the
Basic tab in the Camera Settings dialog, according to section 6.2.1 ’"Basic" Tab’ of the
Movie NX User Manual. The Python API command
movienxapi.ViewManagement.Camera.<get/set>_mirror_mode
is described in the Movie NX Python API User’s Guide.

Figure 2.3: Camera mirror modes in Movie NX

• New status display showing the current connection state and simulation status
A new status display was added showing the current connection state and simulation
status. The connection icon is a quick link to the Connect dialog. Further, a balloon help

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New Features Detailed Description

shows the current application name, host name, host IP address and process ID in sta-
tus Connected. Please find further information in the Movie NX User Manual, section
2.2 ’User Interface’.

Figure 2.4: Status display in Movie NX

• New system info dialog providing useful system information

A system info dialog was added to the Help menu providing useful system information
e.g. about used library versions, GPU, CUDA support and monitors. Please find further
information in the Movie NX User Manual, section 2.9 ’System Information’.

Figure 2.5: Movie NX system info dialog

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 New Features of the CarMaker Product Family 13.1 35
New Features Detailed Description

• New option in View menu allowing to hide the IPG logo

A new option in View menu allows to hide the IPG logo in the currently selected view-
port. See section 2.7 ’View menu’ of the Movie NX User Manual for details.
• Road preview using Movie NX
In the Scenario Editor, Movie NX can be used as road preview additionally to IPGMovie
including a route list view and route visualization. The Movie NX preview mode needs
to be activated in the Scenario Editor’s User preferences menu under Scenario Editor >
General > 3D preview application. Please find more information in the User’s Guide,
section ’User preferences’ and in the Movie NX User Manual, section 2.4 ’Route view’.

Figure 2.6: Movie NX in Road Preview mode

• Update to UNIGINE version 2.18.0.1

The UNIGINE version in Movie NX was updated to 2.18.0.1.
• Command line parameters for cache handling
Command line parameters were added to allow fine grained control of engine cache
locations. This prevents cache corruption when running multiple Movie NX instances
(e.g. GPUSensor instances) on the same machine. Please find more information about
the new command line parameters
-instanceenginecache: appends instance id to the used engine cache directory
-enginecachedir <d>: use the specified folder <d> to store engine related cache files
(e.g. shader)
-clearenginecache: deletes and recreates the engine cache directory. Cannot be used
with -enginecachedir <d>.
Please find more details in the Movie NX User Manual, section 3.3.1 ’Command Line
Options’.
Please note that the Movie NX startup options set by the CarMain Main GUI were
extended by the option -instanceenginecache.

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New Features Detailed Description

3D assets
• New vehicle and trailer models in the 3D object library
The 3D object library has been extended by several new vehicle models and a boat
trailer. Further variants of existing vehicles including weather effects were added.
For an overview of new objects, open the 3D Objects Catalog (CarMaker main GUI >
Help > 3D Objects Catalog). In the catalog, click New in 13.1.

Figure 2.7: Some of the new 3D assets in CarMaker 13.1

• Extended light signal mapping emissive surfaces to all asset components

The emissive surface to light signals mapping in assetinfo files for Movie NX is not
restricted to the asset <MainBody> anymore. The default surface assignment without
an asset name prefix <AssetName>/ remains <MainBody>. See section 7.2 ’Asset Info
Files’ in the Movie NX User Manual for details.
• Support for material id parameterization in gltf models
Material ids can be set as custom property in the parameterization of gltf models for
Movie NX. Please find further information in section 7.1.3 ’Custom Properties’ of the
Movie NX User Manual.

2.2.3 Vehicle

Car

Powertrain
• TCU DCT + AMT supporting powertrain AxleSplit
A new TCU model DCT + AMT is available that allows the use of a DCT gearbox with
the axle split powertrain configuration. The Pre-Configuration setting in the Vehicle

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New Features Detailed Description

Data Set Editor on the General tab was extended for the axle split hybrid kind offering
the DCT + AMT TCU. Please find further information in the Reference Manual, section
16.3.3 ’Transmission control unit (TCU)’.

Figure 2.8: New TCU model DCT + AMT

• Shift Map for SelectorCtrl_S

A second shift map can be parametrized for the TCU models (except for Continuously
Variable Transmission). You can switch between the two different shifting maps via the
UAQ DM.SelectorCtrl. The two shift maps are for the positions SelectorCtrl_D and
SelectorCtrl_S. The shift map can be parametrized via the Info File key Power-
Train.TCU.ShiftCtrl.<i>.nShift.S. Both shift maps must be of the same type: "Linear" or
"Linear2D". When no shift map is provided, SelectorCtrl_S will default to the shift map
provided for SelectorCtrl_D.
Please find further information in the Reference Manual, section section 16.3.3 ’Trans-
mission control unit (TCU)’.

Tire
• Tire-Generator: new tire dimensions 275/40R21, 285/45R22 and 305/35R21
The Tire Data Set Generator was extended by the following new tire dimensions: 275/
40R21, 285/45R22 and 305/35R21. Please find further information about the generator
in the User’s Guide, section 10.9 ’Tire Data Set Generator’.

2.2.4 Sensors

RSIs in general
• Improved ray tracing results by introducing material id textures for existing HD
scenarios in Movie NX
The ray tracing results for Movie NX based RSIs were improved by introducing material
id textures for existing HD scenarios.

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New Features Detailed Description

• Sychronized updates for visualization and Video Interface Box (VIB) GPU sensor
instances of Movie NX (or IPGMovie)
Visualization and Video Interface Box (VIB) GPU sensor instances of Movie NX (or
IPGMovie) from now on receive updates of simulation data at identical points in time,
so that their scene representation is identical. Please note, however, that this is only
possible among instances using identical cycle time settings.

2.2.5 Scenario Editor: Static scenario and IPGRoad

Road API
• Road API extension: Export rd5 to OpenDRIVE®
The functions used for the export of a road definition to ASAM OpenDRIVE® are part of
the IPGRoad API now. Moreover, the export to ASAM OpenDRIVE® is now available
with a CarMaker standard license in the Scenario Editor.
Please find further information about the new IPGRoad API functions in the IPGRoad
API Reference, section Changes, available under Additional Documents in the main
GUI’s Help menu.

2.2.6 Scenario Editor: Dynamic scenario

Maneuver in general
• New reference points for start positions
To better support the OSC standard, the reference point can now be set to the rear axle
(RearAxle) and center of mass (CoM) for the position types Global, Lane, Link, Rela-
tiveGlobal, RelativeLane, RelativeLink and RelativeObject. The reference points CoM
and RearAxle can also be used for the calculation of the position of reference entities
for the relative position types RelativeGlobal, RelativeLane, RelativeLink and Relative-
Object. For activation use the key <LatStepPre>.RefPos = mode under Additional param-
eters. For details see section ’Vehicle reference position’ in the Reference Manual.
• New option for Follow trajectory to automatically adjust the start of the trajectory
When enabled, the start of the trajectory is automatically adjusted so that the first point
in front of the vehicle is the new start point of the trajectory. If a time channel is avail-
able, it will be adjusted to achieve a smooth transition in the velocity profile. For activa-
tion use the keys <LatStepPre>.AdjustTrajStart.* under Additional parameters. For
more information, see section ’Adjust trajectory start’ in the Reference Manual.
• New teleport mode for Follow trajectory
The teleport mode has the options Follow and Position. Position corresponds to the
existing behavior of CM 13.0. If Follow is specified, the object will now not be teleported
if it is already at the start of the trajectory and the first time entry is zero. For activation
use the key <LongStepPre>.TeleportMode = Follow under Additional parameters. For
more information, see section ’Teleport Mode’ in the Reference Manual.

Maneuver for traffic objects

• New filter for Follow trajectory
For polylines, the Smooth transition key can be used to activate a filter that smooths the
trajectory. A PT3 and a PT4 filter are available. This results in a smooth transition
between trajectory segments. For activation use the keys <LatStepPre>.SmoothTrans.*
under Additional parameters. For more information, see section ’Smooth Transition for
Polylines’ in the Reference Manual.

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 New Features of the CarMaker Product Family 13.1 39
New Features Detailed Description

IPGDriver
• IPGDriver: Check for motorway exits during overtaking
IPGDriver is now able to detect an exit during overtaking on highways. This can be acti-
vated with the additional Info File key Driver.Percept.DetectExits in the additional
parameters tab of the Driver Template Editor. If the driver detects that the active route is
along an exit, the driver will try to change to the exit lane in time, taking into account the
surrounding traffic. Furthermore, IPGDriver checks if an exit is ahead before starting an
overtaking maneuver. Per default this behavior is deactivated.
Please find further information in the IPGDriver User Manual, section ’Parameter field’.

2.2.7 Environment
• New parameter set for snow and ice in the material library
A parameter set for snow and ice was added to the material library:
Material.22.Name = snow-ice
Please find further information about the definition of the material library in the User’s
Guide, section ’Edit Material Library’.

2.2.8 ECU Communication and Configuration

Rest Bus Configuration (RBS)

• Secure Onboard Communication (SecOC):
- Extension of crypto functions
Additional crypto functions for SecOC have been added to generate a MAC:
CM_SHA224()
CM_SHA256()
CM_SHA384()
CM_SHA512()
CM_HMAC_SHA224()
CM_HMAC_SHA256()
CM_HMAC_SHA384()
CM_HMAC_SHA512()
Please find further information in the Programmer’s Guide, section ’Crypto Func-
tions’.
- Manipulation of Freshness & AuthInfo signals via DVA
The Freshness, AuthInfo and Message linker signals can now be manipulated via
DVA to overwrite the value from the SecOC module. Please find further information
in the Programmer’s Guide, section ’Freshness Value Manager’.

2.2.9 Hardware in the Loop

CarMaker for Real-time Applications for Xpack4 (IPG Automotive)

Xeno-rt
• Update to Xeno-rt 13.1 including:
- update of miodrv.ko for KPA master distributed clocks
- update of mioutil to version 4.15
- update of dropbear to version 2024.84
- added missing symbolic link /lib64/libtinfo.so.5
- update of EtherCAT components to version 13.1

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 New Features of the CarMaker Product Family 13.1 40
New Features Detailed Description

IO Configurator
• The IO Configurator’s module support was extended
- M401 Frequency generator and frequency meter
The M401 Frequency generator and frequency meter is now available in the IO Con-
figurator. The parameters for the module and the messages can now be configured
in the user interface. Please find more information in the User’s Guide for Real-time
Applications, section ’Frequency Generator and Meter - M401-01’.
- M418 and M418-01 16 bits analog inputs
The M418 and M418-01 16 bits analog input modules are now available in the IO
Configurator. The parameters for the module and the messages can now be config-
ured in the user interface. Please find more information in the User’s Guide for Real-
time Applications, section ’Analog Inputs - M35N00, M35N02, M36N00, M36N01,
M418, M418-01’.
- ISC-1 Quad 2.5G Ethernet sidecard for PC7 SBC
The ISC-1 Quad 2.5G Ethernet Sidecard for PC7 SBC is now available in the IO
Configurator. It can now be configured in the carrier boards section of the user inter-
face. Please find more information in the User’s Guide for Real-time Applications,
section ’Carrier boards’.
• Extended support for M414
- Built-in function for counters
It is now possible to configure 2 rolling counters for the M414. Additional modes to
compute the checksum are available, too.
- Extended number of tx nibbles
The number of tx nibbles for the M414 is extended to 8.
- Increased number of serial messages
The number of serial messages for the M414 is increased to 64.
Please find more information in the User’s Guide for Real-time Applications, section
’SENT module with SPC support - M414’.
• M405: Increase of LIN messages
The number of LIN messages per channel was increased to 40 for the M405 module.
Please find more information in the User’s Guide for Real-time Applications, section
section ’LIN Interface - M405’.

CarMaker for Real-time Applications for SCALEXIO (dSPACE)

• Support for dSPACE 2023-B
The support for dSPACE version 2023-B was added.

2.2.10 Using CarMaker with Other Components

IPGTools

APO Communication Module

• The new APO version 2.2 provides several new functions for clients:
- ApocSetIdentity() sets the client’s identity string
- ApocGetIdentity() returns the client’s identity string
• The new APO version 2.2 provides several new functions for the server:
- AposClientIdentity() returns the identity string of a connected APO client
- AposGetClientList() returns a list with ids of all currently connected clients

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 New Features of the CarMaker Product Family 13.1 41
New Features Detailed Description

- AposClientIP4Addr() returns the client side’s IP4 address of the connection to an

APO client in host byte order (for format conversion use CarMaker function
CM_IP2Dotted() from TextUtils.h)
• New constants were defined:
- APO_MAXSERVERS: Max. number of a client’s server connections
- APO_MAXCLIENTS: Max. number of clients connected to a server
Please note: The previously known constant APO_MAXCONN is deprecated as
replaced by APO_MAXSERVERS.
All of the above can be found in the apo.h file in the include folder of the installation
directory (<IPGHOME>/carmaker/<arch>-<version>/include).

OpenSCENARIO Converter
• The OpenSCENARIO FollowTrajectoryAction is now supported with CarMaker
maneuver FollowTrajectory
- New supported features of OpenSCENARIO FollowTrajectoryAction:
- TimeReference->None
- TimeReference->Timing->domainAbsoluteRelative->relative
- TimeReference->Timing->offset != 0.0
- TimeReference->Timing->scale != 1.0
- StartTrigger is now no longer limited to SimulationTimeCondition = 0.0
- Start position of the entity is no longer limited to start position of the trajectory.
These new features are not supported with the --trajlegacy option.
- Old support of FollowTrajcetoryAction is deprecated. But it can be activated with
new argument --trajlegacy.
- A new argument to the converter was added: --trajlegacy.
It enables trajectory conversion with legacy module, which converts the trajectory to
a route and speed profile for ego vehicle and to Input From File (IFF) for traffic. Posi-
tions in the IFF file for traffic objects are optimized with higher position resolution.
- The reference point of the start position changes from Fr1 to center of the rear axle
for the vehicle and to the center of mass for traffic objects of kinds Pedestrian and
MiscObject.
- A path list is automatically generated based on the start position and first trajectory
found in the maneuver. The maximum number of the path list is limited to 10.
Please find further information in the User’s Guide, section ’OpenSCENARIO Convert-
er’.

Third-party tools

MATLAB
• Support for MATLAB releases 23.2 R2023b and 9.10 R2021a
The support for MATLAB 23.2 R2023b was added and support for MATLAB release
9.10 R2021a was resumed.
• CarMaker Simulink Coder plug-ins with versioning
CarMaker plug-ins created with Simulink Coder now use the version of their Simulink
model by default.
Rebuilding existing plug-in models will change the Simulink model version, if the ver-
sion specified in the wrapper file differs from 1.0. To correctly reflect the version number
in the plug-in library, in some cases the model must be recreated twice, once to migrate
the version number from the wrapper to the Simulink model, and a second time to use
the new version number for the plug-in library information.

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New Features Detailed Description

Functional Mock-up Units (FMU)

• Mapping of local FMU variables to the Data Dictionary
It is now possible to map local FMU variables, that are calculated or constant, to the
Data Dictionary. The feature needs to be activated in the FMU Settings. Please find fur-
ther information in the Programmer’s Guide, section 9.2.3 ’Special Options’.

• Platform specific target directories

FMUs created by CarMaker and made for CarMaker contain now different target direc-
tories for HIL platforms. This prevents collisions between the binaries for different Linux
based target systems, like Linux 64-bit for CarMaker Office and Linux 64-bit XENO for
CarMaker HIL on Xpack4. Information about binary compatibility of FMUs and target
platforms has been added to the Programmer’s Guide, see section ’Architecture and
target platform compatibility’.

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 New Features of the CarMaker Product Family 13.1 43
Bugfixes and Other Changes

2.3 Bugfixes and Other Changes

2.3.1 CarMaker in General

Graphical User Interface

• Bugfix: When saving trailer data sets from a data pool, the user will now be notified.
• Bugfix: When saving a new Test Run or vehicle, after a Test Run or vehicle from a data
pool or product examples directory had been opened, a false positive error message
was thrown.
• Bugfix: A false positive warning message was thrown when parameterizing the Test
Run visualization in the respective Test Run Parameters dialog.
• Bugfix: In case a Test Run was selected which could no longer be found in the file sys-
tem, the related warning appeared twice.
• Bugfix: User models listed in the GUI were not reset when changing the project directo-
ry.
• Bugfix: In some cases, clicking the red cross of popup message dialogs confirmed the
message with the default action. The behavior now was changed to abort the underly-
ing process when clicking the red cross.
• Bugfix: An Tcl error occurred when using a vehicle with particular model class-specific
parameters like MBS parameters.
• Bugfix: The option ’-apphost localhost’ has been added to the shortcut to CarMaker
Office in the Windows start menu resolving connection problems.

Simulation framework
• Bugfixes in the logging module:
- Multi threading issues occurred regarding concatenation of log messages distribut-
ed over more than one Log() call, i.e. where only the last logged string contained the
line ending character \n). Fixed on all platforms except lvrt.
- Log buffer management issues potentially led to memory access outside the buffer’s
boundaries.
• Bugfix: The simulation program crashed at the initial executable startup or at simulation
start if values higher than 0.01 are selected for SimParam.DeltaT in the SimParameters
file.
• Bugfix: An interrupt signal during a Test Run caused the simulation program to crash
when being started with a startup file.

Real-time Expressions
• The SimParameter key RTExpr.ErrorWrongUnit is introduced. It specifies if an error is
triggered instead of a warning, in case the unit of an existing User Accessible Quantity
defined in the c-code, is modified via Real-time Expression. Default value is 0 (warning
instead of error).
• Bugfix: The error messages for time and distance measurement Real-time Expressions
were improved.
• Bugfix: Real-time Expressions which include a term in parenthesis which evaluates to a
string could have led to a segmentation fault. Now the string value is implicitly convert-
ed to a numerical value.

Compilers and development tools

• Update to MSYS 2023-4:

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 New Features of the CarMaker Product Family 13.1 44
Bugfixes and Other Changes

- Bugfix: MSYS started with an error message if the user name contained spaces

2.3.2 Test Automation

Test Manager
• Bugfix: When opening the Load dialog in Test Manager, the vehicle image in the Car-
Maker main GUI was changed even though it should not be affected by the Test Man-
ager.
• Bugfix: In some cases a Tcl error occurred when dragging and dropping items.
• Bugfix: When saving Test Manager files from data pools or the installation directory, the
user was not notified.

Test Configurator
• Bugfix: The creation of Test Ware packages with an already existing name is now pre-
vented.

Script Control
• The ScriptControl commands KeyValue reset and NamedValue reset are now docu-
mented in the Programmer’s Guide.
• Bugfix: When reading variables from a result file using the ScriptControl command
ImportResFile, the return value has been corrected. 0 indicates the variable exists, -1
that it does not exist in given result file.

2.3.3 Visualization

Movie NX
• Bugfix: The full screen mode did not working as expected. E.g. the loading screen
shown in full screen mode did not have a proper scale. When exiting the full screen
mode the main window did not restore the specified startup size.
• Bugfix: Initializing the size of the main window client on Windows caused a Qt warning
at start up.
• Bugfix: Fisheye renderings were leaking pixels from previous simulations.
• Bugfix: The orthographic fisheye field of view in the Camera Settings dialog was not
limited to its maximum of 180 deg.
• Bugfix: The labeling of the lens modes in the Camera dialog were made more consis-
tent.
• Bugfix: Support of gltf, glb and assetinfo files (alongside node) in Movie NX search
paths as a replacement for IPGMovie objs.
• Bugfix: The gltf importer didn’t read image file paths correctly in some cases.
• Bugfix: MovieNX did not show the correct value of speed markers with unit "mph".
• Bugfix: The export window size selection Same as Selected view was not always
applied properly.
• Bugfix: During caching of imported assets collisions could lead to asset cache over-
rides.
• Bugfix: An occasional crash could occur after refreshing the list in the Connect dialog.
• Bugfix: All buttons are now uniformly activated upon a click which equals a press and
release.
• Known issue: Movie NX shows incorrect textures when started without warm up.

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 New Features of the CarMaker Product Family 13.1 45
Bugfixes and Other Changes

IPGMovie
• Bugfix: A tcl error occurred under specific circumstances when trying to export a video
file via IPGMovie Script Control command in Test Manager when a video file with the
same name already existed.

3D assets
• Bugfix: The descriptions of the assetinfo files was incorrect for the two example vehi-
cles Examples/Demo_AssetInfo and Examples/
Demo_IPG_CompanyCar_EV_AssetInfo.

2.3.4 Vehicle

Car

Powertrain
• Bugfix: The Info File keys for the DCT TCU sync clutch functionality Power-
Train.TCU.ClutchCtrl.<i>.SyncClutch.* were not read in as described in the Reference
Manual.
• Bugfix: The PTControl Clutch User Accessible Quantities were missing for hybrid pow-
ertrain models.

Truck

Vehicle Data Set Editor

• Bugfix: An error occurred, when using the Vehicle Data Set Generator to generate a
truck with Vehicle Class: Rigid Truck.

2.3.5 Sensors
• Bugfix: Several sensor types could crash if their name was too long.

Ground Truth Sensor

• Bugfix: Dashed points lists were not converted to the chosen output frame properly.
• Bugfix: In some cases incorrect object detections were provided at the beginning of a
Test Run.

Camera Sensor
• Bugfix:The content of the RSDS export in YUV422 format was not correct for some
channel’s order.
• Bugfix: In some cases incorrect object detections were provided at the beginning of a
Test Run.
• Bugfix: The Camera sensor used incorrect bounding box dimensions if 2D contours
were activated.

Radar Sensor
• Bugfix: In some cases incorrect object detections were provided at the beginning of a
Test Run.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 46
Bugfixes and Other Changes

RSIs in general
• Bugfix: After a significant re-implementation of some of the inner workings on the serv-
er side in APO 2.1 for CarMaker 13.0, a performance decrease in conjunction with RSI
sensors was noticed in CarMaker Office which is fixed with the latest APO release
included this CarMaker version.
• Bugfix: Log entries concerning GPU sensors now use the proper IP address of the cor-
responding GPU sensor instead of the address of the host running the simulation pro-
gram.
• Bugfix: The GPU sensor registration sometimes failed upon a changed sensor cluster
configuration at the start of a simulation, especially if GPUs on different hosts were
involved. Error message: "GPUSensor: Instance ... has not registered with the Sim-
Prog".

RSIs based on Movie NX

• Bugfix: The computational load in first cycle was reduced for Movie NX based GPU
sensors.
• Bugfix: An issue with incorrect Alpha Testing on Vegetation when simulating with Movie
NX based GPU sensors was fixed.
• Bugfix: The option "-exitatsimend" now also triggers closing the sensor instance if the
APO connection is lost during the simulation, for instance if the simulation program pre-
maturely closes.
• Bugfix: Z-fighting artifacts that were visible on traffic signs during RSI visualization in
Movie NX were removed.
• Bugfix: A missing material sometimes led to a crash of Movie NX.
• Bugfix: Custom traffic sign labels were not visible in the sensor preview.

RSIs based on IPGMovie

• Bugfix: The detections of only one GPU sensor in a cluster were visualized in IPGMov-
ie.

Ultrasonic RSI
• Bugfix: Inserting an unassigned Sensor mounting when an Ultrasonic RSI was in the
previous Test Run could have led to a parametrization error.

Camera RSI

Camera RSI based on Movie NX

• Bugfix: A RSDS client could crash with high resolution camera data.
• Bugfix: When initially connecting a GPUSensor instance with a simulation Movie NX
was waiting an unnecessary long time for the first data vector to arrive. This caused a
delay of up to 3 seconds between the first and the second data vector. For Camera
RSIs we also recommend adding the option "-warmup" to the Movie NX startup options
to avoid any additional potential delay once the simulation is started.
• Known issue: Camera RSIs in VIB mode can show artifacts at the start of a Test Run
despite a Movie NX warm up.

Camera RSI based on IPGMovie

• Bugfix: If spaces occurred in file names or paths of a Camera RSI’s configuration ele-
ment (e.g. path to a static occlusion texture), that element had no effect.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 47
Bugfixes and Other Changes

• Bugfix: In specific cases, when the network is heavily slowed down or congested, a
race condition occurred that caused IPGMovie to corrupt the data fetched from the
Camera RSI and sent to the RSDS client.

GPU Coding Interface

• Bugfix: The cuda toolchain wasn’t updated from 11.7 to 11.8 as required by the librsi
starting with 13.0.1.
• Bugfix: Restarting a simulation using multiple Ultrasonic RSIs with the GPU Coding
Interface could result in a sensor instance crash.
• Bugfix: A linker issue for the glew/glfw libraries occurred when using the GPU Coding
Interface with Movie NX on a Linux host.
• Bugfix: A "cuda synchronization error" was randomly reported when using the GPU
Coding Interface signal generation.
• Bugfix: Bins were wrongly indexed in the Radar RSI signal generation example which
resulted in discarding samples.

2.3.6 Scenario Editor: Static scenario and IPGRoad

Static scenario
• Bugfix: When smoothing over a specified area, the specified smoothing intensity was
not taken into account correctly.
• Bugfix: The normal vector calculation for the transition area of virtual and extended
junctions was incorrect.
• Bugfix: When adding a junction in the Scenario Editor, the z-coordinate of the center
point was not adjusted.
• Bugfix: In some cases, the geometry of junction links created using the Add selective
junction links function was incorrect. As a result, these junction links could not be used
as part of a route across the junction.
• Bugfix: In certain cases, when evaluating the road surface on the transition area of an
extended junction’s arm, the determined information was incorrect.
• Bugfix: Adding give way markers could have led to a crash if the junction geometry is
unfavorable.
• Bugfix: In some cases, after rebuilding a junction (deleting/adding junction arms), add-
ing give way markers to such a junction might have caused a crash.
• Bugfix: In some cases, the simulation on a spiral-shaped route running along multiple
links connected by (extended) junctions did not work: At the transition from a link to the
following junction, instead of a position on this junction a position on the previous junc-
tion was found.
• Bugfix: Rearranging the links in the link list of Scenario Editor’s Route Generation tool
sometimes led to internal confusion regarding the proper link order.
• Bugfix: If a traffic light controller was added or removed using Undo or Redo, the list of
available controllers shown in the Parameters tab of a traffic light or a stop marker of
type Traffic light was not adjusted.
• Bugfix: When a link was reverted, its visualization parameters were not adjusted. In
consequence, the parameters for its left and right side were interchanged.
• Bugfix: Rotating background images and junctions using an object group led to angles
larger than 360˚ in certain cases.
• Bugfix: The minimum size limit for displaying Road painting and Road surface objects in
IPGMovie and Movie NX was removed.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 48
Bugfixes and Other Changes

• Bugfix: Invalid road markings, traffic barriers and raised profiles of type Line were visu-
alized as red circles at the last valid position instead of the current one. Moreover,
some of the messages converting invalid bumps and accessories were missing or not
suitable.
• Bugfix: In the parameters tab of an extended junction, a NamedValue could be added
to the Automatic mesh generation checkbox, although it had no effect.
• Bugfix: In the Height profile smoothing tool, NamedValues could be added to the
Parameters tab although they had no effect.
• Bugfix: Misleading warnings regarding invalid transition areas were triggered. The
warning was based on an incorrectly calculated criterion for checking the validity of a
transition area.
• Bugfix: The file browser for Geometry objects started in the wrong directory for Movie
NX.
• Bugfix: In the Scenario Editor, when saving a road definition to a road file or Test Run,
files located in a data pool were automatically copied to the current project directory
without any notification.

OpenDRIVE import and export

• The messages concerning an invalid or missing OpenDRIVE file when reading a road
definition from OpenDRIVE have been improved.
• Bugfix: When importing a road definition from OpenDRIVE, an OpenCRG surface on a
junction led to a crash of the GUI in case an invalid OpenCRG file was specified.
• Bugfix: When importing a road definition from OpenDRIVE, the most suitable main
arms were not chosen for ordinary junctions in any case.
• Bugfix: When exporting a road definition to OpenDRIVE the elevation profile of con-
necting roads was wave-like falsified in case the corresponding part of the scenario
was not even.
• Bugfix: When exporting a road definition to OpenDRIVE, unknown key words were
used for the road mark color information.
• Bugfix: When exporting a road definition to OpenDRIVE 1.7, for object elements the
required attribute perpToRoad was missing.
• Bugfix: When exporting a road definition to OpenDRIVE 1.4, the offset of the geograph-
ic reference was exported, although this information was not supported by this version.

HERE HD Live Map import

• Bugfix: The optimization of the transition widths of extended junctions by the HERE HD
Live Map Import could lead to a crash of the GUI.

2.3.7 Scenario Editor: Dynamic scenario

Traffic
• General traffic behavior parametrization: Changing the selection from Default to a man-
ually created preset has no effect when it is performed on a Test Run which had been
read from file. For new Test Runs the behavior was as intended.
• Bugfix: When using smart traffic features with enabled preparation thread and simulta-
neously Real-time Expressions with parameters refPntTrig or refPntRef the simulation
terminated with unusual error messages.
• Bugfix: A link start position of a traffic object on the road side led to a crash of the Sce-
nario Editor. In combination with a routing on a dynamic path list and no assigned path,
this also led to a crash of the simulation program.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 49
Bugfixes and Other Changes

• Bugfix: Traffic objects were deactivated at path transitions during a longitudinal and lat-
eral maneuver step Follow trajectory, if they had a dynamic path list as routing.
• Bugfix: For the maneuver step Follow trajectory with a position type RelativeObject and
a reference of the object itself, the target positions were calculated incorrectly with an
offset in the longitudinal direction.
• Bugfix: It is now possible to specify up to five paths in the entry under Motion > Path
change of a traffic object.
• Bugfix: The Traffic longitudinal maneuvers Position, IFF position and User position did
not take circuits properly into account. In some cases traffic objects vanished from the
simulation if the route was closed with itself.
• Bugfix Traffic generator: A Tcl error occurred when consecutively clicking on the tooltip
text in the empty link list and on the empty route list.
• Bugfix: The 2D bounding box for a traffic object without associated 3d object did not
use the correct dimensions.
• Bugfix: In the User preferences dialog, the Assisted traffic generator was referred to as
Traffic generator.

IPGDriver
• Bugfix: When a new maneuver step starts for the ego vehicle, not every dynamic is cal-
culated in the same cycle. This means, that e.g. IPGDriver’s control variables are not
propagated in this cycle, causing the User Accessible Quantities for Driver and Driv-
Man to diverge. In order to evaluate the maneuver step at start, the additional Info File
key DrivMan.Step.CalcAtStart was introduced. It can be specified either in the SimPa-
rameters or the Test Run Info File (Test Run overwrites SimParameters). Per default,
the parameter is zero which means the behavior described above (as in CarMaker ver-
sions < 13.1) is deactivated.
• Bugfix: If an initial offset to the route was specified, IPGDriver took this offset into
account when outputting the Static Desired Course, resulting in a course in parallel to
the actual course (e.g. in ModelCheck).
• Bugfix: In some cases, IPGDriver was unable to find the correct start gear for a given
start velocity and a time for shifting of zero (shifting without clutch).
• Bugfix: In some cases, IPGDriver was unable to operate the selector control with auto-
matic transmission and the option use handbrake for driveaway.

2.3.8 ECU Communication and Configuration

IO Configurator
• Bugfix: Very large parameterization tables were not read correctly.

Rest Bus Configuration (RBS)

• Bugfix: The AUTOSAR SOME/IP database compatibility was improved. Some databas-
es for which no events were be found now show events.
• Bugfix: The used sync slots were unnecessarily logged while saving.
• Bugfix: After changing the ECU configuration in the RBS Configurator, the timing
parameters were not reliably adopted for the new configuration. For example, the frame
timing with Info File key TxMode was assigned to the RxFrames and not to the
TxFrames. This missing timing definition means that no messages can be sent.
• Bugfix: The RBS Configurator wrote an incorrect Info File key in the RBSParameters for
RBS Automotive Ethernet. Instead of RBS.0.IfName.0, RBS.0.IfName0.0 was written.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 50
Bugfixes and Other Changes

• Bugfix: E2E Profile 6 was not correctly displayed in the dialog, missing the length signal
and having a length parameter for the CRC signal.
• Bugfix: Removing a frame from an existing and already saved RBS configuration pro-
duced unnecessary warnings.
• Bugfix: Changes to Frame/PDU type filter were not recognized as changes in the
Select ECU dialog. As a result, the OK button was not available.
• Bugfix: In some cases the database type was not correctly shown in the data storage
browser information field.
• Bugfix: The tree representation was not correctly updated when removing a mapping.
• Bugfix: Functions for new elements were not initialized after changes in the Select ECU
dialog.
• Bugfix: The compiler macro #if 0 was filtered while loading in the Hook Editor.
• Bugfix: Custom compile parameters added in the build dialog were not correctly
applied.
• Bugfix: The RBS prefix was not correctly exported to user code.
• Bugfix: Menu entries of edited user code were not correctly marked while loading in the
Hook Editor.

XCP
• The ODT optimization according to the ASAM layer protocol specification will now be
applied to the generated measurement. Please find further information on the support-
ed optimization types in the Programmer’s Guide, with the Info File key description of
ECU.<n>.DAQ.Opt = OptType AddrExt IdentFieldType.
• Bugfix: Variables at the upper address range border were erroneously discarded.
• Bugfix: A Tcl error could occur when starting a simulation with active XCP while the
XCP dialog had not been opened in the current CarMaker session.
• Bugfix: (De-)Activation via Onboard Diagnostics did not work, because the entries
Enable XCP or Disable XCP in the context menu of the XCP Configuration dialog could
not be activated.
• Bugfix: The mapping of a variable was not correctly cleared when it was removed from
a group in the XCP Config dialog.
• Bugfix: A Tcl error could occur while removing a measurement group in the XCP Con-
figuration dialog.
• Bugfix: Loading older XCP configurations in the XCP Setup dialog led to the ASAP2
keys being duplicated while saving.
• Bugfix: The automatic update function to update an APO based XCP parameterization
(CarMaker 9.x) to an Info File based XCP parameterization lost the active UAQ vari-
ables.
• Bugfix: Synchronizing the ECU and not applying the changes still led to a warning of
not saved changes.
• Bugfix: The XCP-Diff dialog showed the XCPParameters as difference.
• Bugfix: No feedback was given in case of a synchronization with the ECU where no dif-
ferences were found.
• Bugfix: The default button of the dialog asking if a manually started measurement that
does not match the loaded measurement on the simulation program should be run was
changed.
• Known Issue: A Tcl error occurs while connecting to a real-time system without opening
the XCP dialog first, when the active XCPParameters contains a variable mapping.
Workaround: Please start the XCP dialog first.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 51
Bugfixes and Other Changes

2.3.9 Hardware in the Loop

CarMaker for Real-time Applications

General
• Bugfix: Depending on the road geometry the Vhcl.sRoad value was not properly reset
after the previous simulation in CarMaker HIL.

CarMaker for Real-time Applications for Xpack4 (IPG Automotive)

Hardware
• Bugfix: Mioutil did not display the M418 module correctly. This is now fixed with mioutil
revision 4.15.
• Bugfix: Due to a bug in MIO, the sensor emulations of DF11i, DF30i and other PWM
based sensors could not be configured and used on channels 1 to 5 with the M400
module.

Bus systems
• The default value of the optional parameter ByteOrder for the Info File keys
PDU.<PDUName>.SecOC.MsgLink and PDU.<PDUName>.SecOC.AuthFV is
changed to MSB.
• Bugfix: For PDUs in the static FlexRay segment, the cycle time of the PDU was not
considered. This meant that the PDU was always sent when the associated frame was
ready for sending (base cycle/repetition cycle). Now NULL frames are sent if the PDU
is not ready to send, e.g. if the PDU cycle time is a multiple of the frame cycle time.
• Bugfix: In the case that a PDU in a FIBEX database has no trigger no default timing
was applied.
• Bugfix: Container PDUs led to frame timings not being determined correctly.
• Bugfix: To prevent stalling of the real-time system, the RBS restart functionality for
FlexRay is restricted. The FlexRay restart option is retained, with the restriction that the
FlexCardParameter Info File remains unchanged. Otherwise, a restart of the execut-
able is necessary.
• Bugfix: The FlexCard UAQs FC.NumPackets and FC.T_In were created unnecessarily,
even if no FlexCard IO configuration is set up.
• Bugfix: In some cases simulated ECUs had an exported TxMapping as well as a
GWMapping in GateWay mode.

EtherCAT
• The new User Accessible Quantity <ECAT.0.DictDefPrefix>.ResetError was introduced
to enable the user to reset faulty states in slaves.
• If CarMaker isn’t able to reach the requested state on startup, the session log now
shows a warning.
• Bugfix: When CarMaker was shut down, EtherCAT triggered a log message stating that
the master status had been changed. This log now indicates that a shutdown is
requested and a corresponding state is triggered for this reason.
• Bugfix: Faulty slave states are now indicated by a warning.
• Bugfix: KPA EtherCAT master start-up in distributed clocks mode failed with the error
message "EcatTimerNsSetClock: Operation not permitted".
• Bugfix: Entries in the ESI file containing whitespaces were not read correctly.
• Bugfix: PDO entries in the ESI file which did not have the Datatype element, caused
CarMaker to show an error. Now the entries are read correctly.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 52
Bugfixes and Other Changes

• Bugfix: If the CarMaker was not terminated correctly, there was sometimes an Ether-
CAT error spam in the session log.

IO Configurator
• The half duplex support for the M77N was removed within the IO Configurator due to a
firmware issue on the supplier’s side that will not be fixed.
• Bugfix: Selecting mapping kind DDict of an output channel of the M66 module led to a
segmentation fault.
• Bugfix: Selecting "Constant" for the mapping of the status nibble led to a zero as output.

Real-time System Setup

• Bugfix: Opening the file browser in the Realtime System Setup dialog caused a Tcl
error.

CarMaker for Real-time Applications for SCALEXIO (dSPACE)

• Bugfix: It was not always possible to reconnect to the SCALEXIO RT.
• Bugfix: The update of CarMaker UAQs in a RMA slave model did not work properly, if
the UAQ was not defined in the RMA slave model, too.
• Bugfix: CarMaker failed to run on SCALEXIO real-time hardware with QNX firmware
due to communication problems with the IPGRT service.

RealtimeMaker
• Bugfix: The Encrypt data dialog showed a CarMaker versions in RealtimeMaker.

2.3.10 Using CarMaker with Other Components

IPGTools

APO Communication Module

• Bugfix: On Linux based platforms APO truncated longer user names to 8 characters.
Because of that user names didn’t get reported properly to e.g. the CarMaker GUI and
trying to start a realtime application in the CarMaker GUI on an Xpack4 system using
the proposed (truncated) user name would fail.
• Bugfix: Internal APO message queue overflows are now handled more gracefully in
CarMaker Office. Previously the simulation program was immediately terminated in
such a situation, now the application will pause a bit and try again for a longer time, giv-
ing APO background I/O time to process already queued messages and free some
queue space.
• Bugfix: Reduced CPU load compared to APO 2.1 (CarMaker 13) and earlier, depen-
dent on the platform.
• Bugfix: After a significant re-implementation of some of the inner workings on the serv-
er side in APO 2.1 for CarMaker 13.0, a performance decrease in conjunction with RSI
sensors was noticed in CarMaker Office which is fixed now.
• Bugfix: A data dictionary overflow now no longer leads to the termination of the running
application (the CarMaker simulation program in most cases). However, there will be
limitations after a dictionary overflow occurred. If the dictionary itself became too big,
APO clients will be presented an empty data dictionary when newly connecting to the
application. If the number of dictionary changes since the last call to AposReady()
(CarMaker: DDictReady()) was too big, all connected APO clients will be forcibly dis-

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 53
Bugfixes and Other Changes

connected. In the latter case, extending the data dictionary in smaller chunks might be
a used as a workaround, i.e. calling AposReady() (CarMaker: DDictReady()) more
often.

OpenSCENARIO Converter
• Files created by the OpenSCENARIO Converter will now use the OpenSCENARIO ver-
sion for the FileCreator information in the header.
• More detailed logging messages are now provided for unsupported features.
• Bugfix: The log file created with the "--logtofile" option contained extra quotation marks.
• Bugfix: The axle position for traffic objects with 4Wheel motion model was ignored
which led to an incorrect initial placement of the object.
• Bugfix: During the import of OSC files containing the LateralOffsetAction an error was
triggered by an incorrect LatAccMinLimit for traffic only.
• Bugfix: When converting a non-vehicle entity, which is referred in the condition as "enti-
tyRef", a wrong reference point was set.
• Bugfix: If no ego vehicle is selected in the OpenSCENARIO Converter GUI, the valida-
tion was not used even if it was activated.
• Bugfix: If error messages occurred in the OpenSCENARIO Converter during validation,
only the very first error message was displayed in the GUI.

Third-party tools

MATLAB
• Bugfix: CarMaker tools for the Matlab command line like cmread or ifile failed on argu-
ments of type string array.
• Bugfix: In CarMaker for Simulink the Matlab workspace variable CMData was set with-
out its elements NValues and Variation.
• Bugfix: The Matlab command Simulink.Bus.createObject resulted in duplicate defini-
tion errors, when called on a model that contained any of the blocks Define CM Dict,
Signal Access or Body Frame.

Functional Mock-up Units (FMU)

• CarMaker does no longer require a specific OSI version for OSMP FMUs to be integrat-
ed.
• CarMaker no longer sets the values of FMU variables with causality "local".
• Bugfix: FMUs without a .pluginfo file are no longer displayed with status "Linked".
• Bugfix: FMUs without a .pluginfo file could not be deleted.
• Bugfix: In the FMU dialog the validation of plugins was using the FMU internal name as
a fallback. As a result, FMUs without a .pluginfo file used the .pluginfo file with the inter-
nal name in the display.
• Bugfix: The validation logic for renamed FMUs was not working correctly.

2.3.11 Product Information

Project templates and examples

Test Runs/Test Series

• Bugfix: An incorrect bounding box for Tree_01 objects was fixed in the example Test
Run Examples/BasicFunctions/Traffic/Basics_People.

CarMaker Release Notes Version 13.1

 New Features of the CarMaker Product Family 13.1 54
Bugfixes and Other Changes

• Bugfix: The start position of the ego vehicle in the example Test Run Examples/
Basic/Functions/Driver/SteeringByTorque was adjusted slightly in order to not
trigger a session log warning.
• Bugfix: The position for two stationary traffic objects was adjusted in the product exam-
ple TestRun Examples/DriverAssistance/ParkingAssist/
ParallelParkingInCity.
• Bugfix: Small graphic issues were fixed in the product example HD Scenario Test Run
Examples/HDScenarios/SanFrancisco/SanFrancisco_Driving_Summer.
• Bugfix: The performance in the HD Scenarios SanFrancisco, SuburbanStreet,
ParkingGarage, A9_Garching, CityTunnel, MountainRoad and UK_Highway was
improved.
• Bugfix: The start time in product example Test Run Examples/HDScenarios/A9_Garching/
A9_Garching_Autumn_Cloudy was changed to improve headlight effects.

Vehicles
• Bugfix: The orientation of the Radar RSI rear sensor in
Demo_IPG_CompanyCar_MultiRSI has been corrected.

Model extensions
• Bugfix: Unit definitions were missing in the MySteering_FMU product example.
• Bugfix: A wrong gearbox User Accessible Quantity was used in ESP_RTW.mdl example.

Coding examples
• Bugfix: The description of the Python API product example usage inside the example
code files was outdated.
• Bugfix: The auxiliary functions for the output of messages in the code samples in
<IPGHOME>/carmaker/<architecture>-<version>/Examples/IPGRoad reverted
the order of messages not considering multi-part information.
• Bugfix: The example code in <IPGHOME>/carmaker/<architecture>-<version>/
Examples/APO did not compile under MS Windows because of two missing files,
resources.rc and ApoClnt.exe.manifest.

Documentation
• A new chapter about EtherCAT master synchronization modes was added to the Pro-
grammer’s Guide, see section 21.3.3 ’Sychronization Modes’.
• Bugfix: The documentation about Rest Bus Simulation and SOME/IP in the Program-
mer’s Guide was reworked and completed, see section ’Rest Bus Simulation for
FlexRay, CAN & Automotive Ethernet’.
• Bugfix: The description of function MIO_M403_GetEvDuration() was corrected.
• Bugfix: Some of the GPU Coding Interface code examples were outdated in the Pro-
grammer’s Guide.
• Bugfix: The description for the Lidar RSI UAQ nRefl in the Reference Manual was out-
dated.
• Bugfix: The documentation of deprecated normal vector User Accessible Quantities
provided by the Free Space Sensor Plus was removed from the Reference Manual.
• Bugfix: The default value of the parameter Materials.N in the Reference Manual was
outdated.

CarMaker Release Notes Version 13.1

 Release History Bugfix Releases 55
Version 13.0.1

Chapter 3
Release History Bugfix Releases

3.1 Version 13.0.1

3.1.1 CarMaker in General

Licensing
• Only one dongle ID was displayed in the Help > License Info dialog of the CarMaker
main GUI, even if more than one dongle was used on the current system.
• Bugfix: License sharing for CarMaker Add-on licenses (CM-MBSS, CM-PSM) did not
work for nodelocked and dongle licenses on Windows systems if the Test Manager was
used in parallel execution mode. Floating licenses and Linux systems were not affected
by this.
Please note: Mixed operation of current/previous Test Manager releases with CarMaker
executables of previous/current releases may not work when using parallel execution
mode and nodelocked/dongle licenses.

Graphical User Interface

• An option was added to define a new location and name for vehicles and Test Runs
located outside the project directory instead of automatically copying them.
• Bugfix: Modelclass-specific parameters were not considered during the project update.
• Bugfix: The selection of more than 10.000 User Accessible Quantities was restricted to
the respective quantity browser. Thus, the GUI is prevented from crashing if too many
User Accessible Quantities are available in the data dictionary.
• Bugfix: There was a wrong pop-up warning when selecting a project directory of a dif-
ferent product.
• Bugfix: The trademark symbol was misplaced in the about dialog.

Project Update
• Bugfix: The project update from CarMaker 12.x to CarMaker 13.0 failed for Test Runs
containing a path point maneuver.
• Bugfix: The UAQs PT.GearBoxM.* were not considered by the project update.

CarMaker Release Notes Version 13.1

 Release History Bugfix Releases 56
Version 13.0.1

• Bugfix: UAQs named PT.Gearbox.GearNo.* were not converted by the project update
but only marked with prefix REMOVED. However, UAQs referring to GearboxM units
still need manual treatment as the use is not always unambiguous.
• [Bugfix: The project update of modified versions of the HydBrakeCU_ESP.mdl only
worked if it was not renamed.

Simulation framework
• Bugfix: The simulation program did not show up in the Task Manager of Windows 10 if
it was started by the GUI.

Compilers and development tools

• Update to Windows cross-compiler MSYS 2023-3:
- The color themes ’ipg-coloured’ and ’ipg-monochrome’ were added.
- Bugfix: Bright colors like white were barely visible in MSYS.
- The x86_64-linux/lib/gcc/x86_64-linux/11.3.0/include-fixed/limits.h was fixed.
• Bugfix: The libusb reference in the docker file templates has been updated to the
required package libusb-1.0.

3.1.2 Test Automation

Script Control
• Bugfix: Key Values of type Txt were not always used correctly when querying in the
GUI. Affected Script Control procedures were KeyValueTxt set and IFileValueTxt.

3.1.3 Visualization

Movie NX
• The Connect to Application dialog has been improved visually and functionally.
• Added underlined shortcuts as a possible menu control for Movie NX. Pressing Alt and
the underlined letter of a menu item opens the corresponding dialog. For example
[alt+f] opens the File dialog.
• Bugfix: It was not possible to directly use shortcuts if the full screen mode was opened
via the menu bar.
• Bugfix: The exposure settings and naming were clarified in the GUI.
• Bugfix: The Movie NX session log and file log did not contain the engine log. In addi-
tion, the log output has been reformatted to better highlight log level and origin of the
log message.
• Bugfix: Smart traffic could lead to noticeable frame spikes proportional to the amount of
objects in the Test Run.
• Bugfix: The field of view and fitmode of the distorted rectilinear lens in interactive Movie
NX were invalid.
• Coloration modes viewed with the distorted rectilinear lens were displayed in a wrong
resolution.
• Bugfix: Some materials were missing when object class coloration was used before
loading a Test Run.
• Bugfix: In some cases the simulation of a Test Series could crash Movie NX if the start
position of the ego vehicle was not specified by correct values.
• Bugfix: Road paintings were not painted on road markings but displayed inside of them.

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 Release History Bugfix Releases 57
Version 13.0.1

• Bugfix: Movie NX could not read textures of Road elements (e.g. sign plates or road
paintings) from the Movie folder.
• Bugfix: The Movie NX installation directory contained an unnecessary simulation log
folder.
• Bugfix: The replay slider movement was blocked at some timestamps.
• Bugfix: The replay toolbar did not properly take the rounded corners into account when
using Windows 11.
• Bugfix: Movie NX capped its frame rate to half of the expected value if OpenGL was
used on Linux with active vertical synchronization. This affected both the Camera RSI
in VIB mode and the visualization instance.

IPGMovie
• Bugfix: A Tcl error occurred when the Test Run contained traffic objects and was
reloaded internally.
• Bugfix: Road markings were always black even if another color was defined in an object
class coloration configuration file.
• Bugfix: The Key Value substitution for terrain files did not work correctly, leading to a
false animation in IPGMovie.

3D assets
• Bugfix: The vehicle 3D asset Audi S3 2015 was changed to fix the visual indicator func-
tionality.
• Bugfix: The number plate position of the 3D asset Cadillac_Escalade_V_ESV_2023
was corrected for Movie NX.
• Bugfix: Missing materials of GMC_Hummer_EV_2022 were added.
• Bugfix: The material parameters of the Lexus_NX300h_2015_Wheel were fixed.
• Bugfix: The steering wheel in the asset information ExampleCar.assetinfo was attached
to the wrong frame.
• Bugfix: Several warnings in the Movie NX log caused by 3D assets were fixed.

3.1.4 Vehicle

Car

Model Check
• Bugfix: The Equilibrium Configuration of the ModelCheck failed to encounter static
equilibrium after running ModelCheck in SPMM mode using a MF-Tyre/MF-Swift tire.
• Bugfix: Static equilibrium calculations were erroneously done prior to the evaluation of
the Design Configuration.

Powertrain
• Bugfix: The serial hybrid powertrain allowed a manumatic TCU setting which could lead
to a conflict with the shifting points in the driver parametrization.
• Bugfix: The Electric Motor tab for Powertrain MCU exported incorrect Info File keys.
• Bugfix: An error occurred, when using the copy functionality for an electric powertrain
Drive Source.
• Bugfix: An error occurred, when loading a vehicle with a 2D look-up table for gears.
• Bugfix: It was not possible to use the converter clutch model with an external power-
train Info File.

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Version 13.0.1

• Bugfix: Gearbox models were not shown correctly in the powertrain after opening a file.

Suspensions
• Bugfix: The compliance model "not specified" (deactivated compliance) could not be
simulated, when being changed after a vehicle with compliance model Linear had been
loaded.

Truck

Suspensions
• Bugfix: The User Accessible Quantity Car.KinRollCenter.<R3,R4>.* was calculated with
the transformation matrix of vehicle Fr1A instead of Fr1B for flexible trucks with more
than 4 axles. Same applied for external velocities of wheel carriers at axles R3 and R4.

3.1.5 Sensors

Ground Truth Sensor

• Bugfix: In some cases the point list was sorted the wrong way for double lines.
• Bugfix: The line point list did not start sampling points close to the sensor, if the number
of output points was too small.
• Bugfix: In some cases length and point list information were missing for short detected
lines.
• Bugfix: Unused values were not always correctly reset if a line object changed.

Radar Sensor
• Bugfix: A bug in the object detection algorithm could have rarely led to an error.

GPU Sensors
• Bugfix: The balloon help for Movie command in the GPU Configuration dialog could
contain a nonsensical GUI host port address under some circumstances.
• Triggering a calculation outside an active simulation now will have no influence on sub-
sequent triggers during the simulation.

RSIs in general
• The minimum required CUDA version for Lidar RSI, Radar RSI and Ultrasonic RSI has
been increased from 11.7 to 11.8.
• Bugfix: Lidar RSI, Radar RSI and Ultrasonic RSI crashed when a Test Run was restart-
ed which used a Python script with "get_material_unique".

Radar RSI
• Bugfix: Simulating a Radar RSI with File output on a cluster with more than one sensor
could lead to an error.

Ultrasonic RSI
• Bugfix: The Ultrasonic RSI used a version of a CUDA library that was not compatible
with GPUs of the Ada Lovelace architecture resulting in a memory failure.

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Version 13.0.1

Camera RSI

Camera RSI based on Movie NX

• Bugfix: Fullscreen mode was enabled even if only a single screen was detected. In
addition, a new Sensor Cluster Camera RSI monitor setting parameter SensorClus-
ter.<i>.CameraRSI.Fullscreen was added to (de-)activate fullscreen mode.
• Bugfix: Movie NX capped its frame rate to half of the expected value if OpenGL was
used on Linux with active vertical synchronization. This affected both the Camera RSI
in VIB mode and the visualization instance.

3.1.6 Scenario Editor: Static scenario and IPGRoad

Static scenario
• The automatic creation of GiveWay markers on junctions has been improved. Now,
when placing the lane, the lane width of both the lane that has the right of way and the
lane that gives the right of way is taken into account. In addition, only one marker is
placed per lane giving priority.
• Bugfix: When automatically creating GiveWay markers at junctions, the direction of lane
paths in left lanes relative to the reference line was not correctly taken into account. As
a result, e.g. Traffic Swarm was disabled.
• Bugfix: An autonomously driving traffic object might have stopped at the GiveWay
marker and did not continue driving if two GiveWay markers were placed at the exact
same position.
• Bugfix: When adding a GiveWay or priority path to a Right of way controller, no selec-
tion menu was offered to choose between overlapping paths.
• Bugfix: In some cases connecting or splitting links connected to a junction could lead to
invalid connection information about the junction’s junction links. This caused faulty
routes or a crash of the GUI if a route was defined over such a junction link.
• Bugfix: The junction mode specified in the Scenario Editor’s User preferences was not
always considered correctly: For virtual junctions, the mode "Add all junction links" had
no effect and the corresponding context menu functionality was missing. Moreover, the
existing junction links of a simple or extended junction were replaced if a junction arm
was added to the junction.
• Bugfix: In some cases the GUI could crash if a link connected to an extended junction
with a mesh height map using automatic mesh creation was deleted.
• Bugfix: When using OpenCRG files, the slope and banking channels may not have
been taken into account correctly.
• Bugfix: The interpolation methods Step0 and Step1 were not handled correctly in
OpenCRG. The transition area, which is always based on cubic interpolation, was also
corrected for these cases.
• Bugfix: When reading an invalid *.rd5 Info File with a File segment with a missing Open-
CRG object, an inappropriate OpenCRG object was added without informing the user.
• Bugfix: In case an OpenCRG surface was used to define the 3D surface of a link, the
link was not visible in the Scenario Editor in some cases.
• Bugfix: If the Route Generation tool was applied with route criterion fastest, links with
road type undefined were considered as links with road type urban road. Moreover, a
speed limit definition of a road type set to zero was treated as 130km/h.
• Bugfix: The performance of dismissing a road definition in the Scenario Editor by using
for example New road definition was improved noticeably.
• Bugfix: If a background image or right of way controller were added or adjusted an
unsaved changes dialog was missing.

CarMaker Release Notes Version 13.1

 Release History Bugfix Releases 60
Version 13.0.1

• Bugfix: In case the image anchor point of a background image was not defined explicit-
ly but by a certain mode, the entry fields for the coordinates were not disabled.
• Depending on the system used, Shift key interactions in the Scenario Editor did not
work correctly.
• Bugfix: If visualization parameters, terrain parameters or Static scenario settings were
changed by New road definition, the highlighting pointing out invalid values or Named
Values was not removed.
• Bugfix: For some object types visualization was not possible within a second scenario
created by New road definition. This affected background images, geometry objects,
road paintings, traffic lights, traffic signs and markers.
• Bugfix: It was not visible in the Parameters tab that Named Values are not supported for
background images.
• Bugfix: In the Scenario Editor, in some cases concerning elevation, slope and camber
profile, lateral offset, lane width, inner/outer height and width of a raised profile, there
was a special treatment for the value -999, although it had no special meaning in
IPGRoad.
• Bugfix: Unsuitable values for settings led to an error message if the scenario was saved
or the simulation or the 3D preview was started. Moreover, generating a terrain led to
an error message if unsuitable terrain settings were defined.

OpenDRIVE import and export

• When importing a road definition from OpenDRIVE, references to invalid road identifi-
ers led to a crash.
• Messages about invalid connection information were missing in some cases if a road
definition was imported from OpenDRIVE.

Road API
• Bugfix: When using IPGRoad API functions, connecting already connected junction
arms or link nodes to another link node or junction arm was not prevented and let to
faulty connections. This also affected OpenDRIVE imports.
• Bugfix: The version of IPGRoad stated in the API header files and code samples was
not up to date.

3.1.7 Scenario Editor: Dynamic scenario

Traffic
• Bugfix: In rare cases a segmentation fault occurred when using Traffic Swarm and a
starting traffic object in a source was disabled in the same.
• Bugfix: When using Traffic Swarm, it sometimes led to an error when the ego vehicle
stopped harshly at a border between two lane sections or between a lane section and a
junction.
• Bugfix: When using Traffic Swarm and a road position evaluation error occurred, the
error message "outside of link/junction" was displayed. Now, temporary road position
evaluation errors are allowed. However, if too many subsequent road evaluation errors
arise, an error is thrown due to restrictions in the algorithm.
• Bugfix: A segmentation fault occurred if a traffic object with motion model Ball was used
as a stationary object.
• Bugfix: If enabled, GCS quantities for Smart Traffic objects were always created with
the value 0.

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Version 13.0.1

• Bugfix: In rare cases, an unsuccessful initialization of a linear map within the traffic gen-
erator module could lead to a simulation crash.
• Bugfix: An error could occur in the Traffic Generator for a very steep gradient of the
route.
• Bugfix: It was not possible to start the simulation if a 2D contour was added to a traffic
object and some entries were deleted.
• Bugfix: Selecting a vehicle start position of type lane with the mouse could lead to a Tcl
error, if the lane is was not exactly under the cursor.
• Bugfix: A Tcl error occurred when expanding a directory item in the Traffic Object Tem-
plate browser or editor.
• Bugfix: The value of Longitudinal Motion -> Proportional gain speed control entered in
the Traffic Driver Templates dialog was ignored by the simulation program.
• Bugfix: An error occurred when Traffic objects were selected in the Object list before
switching into static mode.
• Bugfix: The path list entry field of the Traffic Editor’s Routing was marked red as soon
as 10 elements were selected. Now the input field correctly only turns red with more
than 10 entries.

Maneuver in general
• The reference position was not calculated correctly in the initialization phase if a rela-
tive Follow Trajectory action was used as the first maneuver step.

Maneuver for ego vehicle

• Bugfix: In some cases the start position on a junction did not work properly for the ego
vehicle resulting in an error message.

IPGDriver
• Bugfix: The ModelCheck of IPGDriver failed when sampling the lane borders on a spe-
cific junction. In that context the example roads RuralRoad_Tollgate.rd5 and
Eight_20m.rd5 have been adjusted slightly.
• Bugfix: Now the simulation aborts immediately if a Driver adaption of only Controller
dynamics was performed without knowledge about the Vehicle dynamics.
• Bugfix: After a driver adaption the slider for adjusting the z-clipping plane did not work
correctly.
• Bugfix: The Additional Parameter Vhcl.Class in the Driver knowledge was not recog-
nized correctly by the GUI and colored red.

• Bugfix: The Driver dialog in MotorcycleMaker 13.0 incorrectly displayed the Traffic
parameterization tab even though traffic detection is not supported by the Motorcycle-
Maker driver.

3.1.8 ECU Communication and Configuration

IO Configurator
• The number of hook functions for IO Configurator was increased to 1000.
• Bugfix: The entry for c-code byte 6 was not shown when Mapping type c-code was
selected.
• Bugfix: Using more than 1 byte with Direct Variable Access and the M405 module led to
a segmentation fault.

CarMaker Release Notes Version 13.1

 Release History Bugfix Releases 62
Version 13.0.1

• Bugfix: Using more than 4 bytes in a message, lead to a wrong mapping.

• Bugfix: Data Dictionary mappings with names containing brackets or blanks incorrectly
contained braces.
• Bugfix: The IO Configurator GUI is now blocked while loading data.
• Bugfix: With a new IO configuration, the input fields for some M-Modules were not reset
correctly and still contained old entries.
• Bugfix: A Tcl error could occur while using the Select ECU dialog in a project with a
space in the name.
• Bugfix: There was query to select the rack type again when using an old CANIfParame-
ters file in CarMaker Office and CarMaker Office Extended.
• Bugfix: GUI shortcuts did not work properly.

Rest Bus Configuration (RBS)

• Bugfix: It was not possible to enter hex or negative numbers into the mapping entries.
• Bugfix: In some cases the default pre-save RBS prefix could lead to problems with RBS
function calls.
• Bugfix: Data Dictionary mappings with names containing brackets incorrectly contained
brackets.
• Bugfix: The subnet mask was not exported for IPv4. This did lead to connection prob-
lems.
• Bugfix: With a value of 0 for the Info File key RBS.<n>.DictDefGw, not only the UAQs
generation is skipped, but no GW-PDUs/signals are read in and processed, which in
turn led to warnings/error messages as soon as a mapping is to be applied to the GW-
PDUs/signals.
• Bugfix: No mapping was applied with a value of 0 for the Info File key RBS.<n>.DictDef-
Gw.
• Bugfix: The RBS Configurator was unable to save rest bus simulations into subfolders
of Data/Config.
• Bugfix: Saving a RBS with activated C-Code interface added a new empty line at the
end of the Makefile.
• Bugfix: A Tcl error could occur while saving a CANdb RBS.
• Bugfix: Loading and saving a frame based RBS could lead to lost multiplexing informa-
tion.
• The suffix of SOME/IP SubParameters was generated wrongly.

XCP
• Bugfix: The XCP control LED in the CarMaker main GUI was not correctly updated
when a measurement was started without opening the XCP Configuration dialog first.
• Bugfix: When using the DAQ block mode it was possible to create a configuration in
which a variable was only partly in the block.

3.1.9 Hardware in the Loop

CarMaker for Real-time Applications

Modules
• Bugfix: The handling and error message for unsupported revisions from 5.1 were miss-
ing for M400.

CarMaker Release Notes Version 13.1

 Release History Bugfix Releases 63
Version 13.0.1

CarMaker for Real-time Applications for Xpack4 (IPG Automotive)

General
• Bugfix: Xeno executables built on Ubuntu 22.04 could not be executed on Xpack4 sys-
tems.

Xeno-rt
• Update to Xeno-rt 13.0.1 including:
- update EtherCAT components to version 13.0.1
- update to GLIBC 2.35 (Ubuntu 22.04.3)
- update of bin/ldd (matching with GLIBC 2.35)
- update of libstdc++ to version GLIBCXX 3.4.30 (Ubuntu 20.04.3)
- several missing files were added such as:
/lib64/libc_nonshared.a (referenced by /lib64/libc.so)
/lib64/libc_malloc_debug.so.0
/lib64/libmemusage.so
/lib64/libpcprofile.so
- /lib64/libc_nonshared.a was removed
- corrected permissions for lib64/ld-linux-x86-64.so.2 on Windows hosts

EtherCAT
• Bugfix: Running an older CarMaker HIL simulation program with EtherCAT master on
an Xpack4 real-time system with up-to-date boot environment sometimes failed
because of inconsistent mempoolsize settings.

Realtime System Setup

• Bugfix: The About dialog of the Realtime System Setup displayed a wrong product ver-
sion.

CarMaker for Real-time Applications for ds1006/SCALEXIO (dSPACE)

• Bugfix: On SCALEXIO systems the vehicle braked too hard at the beginning of the sim-
ulation when a starting velocity was parametrized.
• Bugfix: The target architecture setting in ConfigurationDesk was not recognized by the
CM_BuildConfig.py script. In some cases, the build process failed when trying to link
with incompatible libraries (e.g. 32-bit libraries for 64-bit target).
• Bugfix: Linking with a CarMaker plugin model for dSPACE SCALEXIO 32-bit Linux
failed because of wrong compiler options.
• Bugfix: Source code FMUs could not be used with CarMaker on dSPACE SCALEXIO
real-time systems with 64-bit Linux OS. The build process did only compile for 32-bit
Linux OS. The FMU dialog now shows Linux 32-bit and/or Linux 64-bit as target archi-
tecture, depending on the target architecture support of the dSPACE release.
• Known Issue: The IPG example FMUs have a display problem in the FMU dialog when
used with SCALEXIO. They incorrectly show the status "NEW" and the warning "FMU
does not provide executable code" even if they are ready to use. However, the FMUs
can be used as usual in the simulation.

RealtimeMaker
• Bugfix: Realtime Expressions using the variables cnt or t didn’t work properly in Real-
timeMaker. Both variables’ value was zero all the time.
• Bugfix: The Functional Mock-up Interface (FMI) did not work with RealtimeMaker.

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 Release History Bugfix Releases 64
Version 13.0.1

3.1.10 Using CarMaker with Other Components

IPG Tools

APO Communication Module

• The stability regarding subscribing to quantities was improved.

IPGControl
• Update to IPGControl 3.0.14:
For more information on this bugfix release, see release history in the IPGControl User
Manual (IPGControl > Help > User Manual).

OpenSCENARIO Converter
• Bugfix: Updating the OpenSCENARIO project to CarMaker 13.0 could result in a Tcl
error.
• Bugfix: The option --defaultman was ignored, if no maneuver was defined for the ego
vehicle entity.

Third-party tools

MATLAB
• Bugfix: In rare cases the error Embedded FARoadSensor Geo: [...] not found on Road
could occurred with CarMaker for Simulink.
• Bugfix: Depending on their parameterization, the CarMaker for Simulink blocks Radar
RSI and Ultrasonic RSI could not be used multiple times in the same model.
• Bugfix: The MATLAB workspace variable CMData is now updated consistently in the
base workspace.

Functional Mock-up Units (FMU)

• Bugfix: For FMI 3.0 FMUs the options “Add FMU Inputs to DDict” and “Add FMU Inputs
to DDict” did not work.
• Bugfix: The substitution from value references to variable names in log messages of
FMI 3.0 FMUs did not work.
• Bugfix: The FMU dialog listed supported architectures twice in the overview.
• Bugfix: The FMU dialog did not show the date and time of the last file change properly.
• Bugfix: The example FMUs did not work on F23P00 based Xpack4 systems.

3.1.11 Product Information

Project templates and examples

• Bugfix: The detectability of all guard rails in the example Test Runs was activated for
the Ground Truth Sensor.
• Bugfix: Unused parameters were removed from the example vehicle
Demo3AxleSemiTruck6x4_Freightliner_Cascadia.
• Bugfix: Unnecessary Info File keys were removed from the Test Series Examples/Pow-
ertrain/DrivingCycles/DrivingCycles.ts.
• Bugfix: Outdated environment parameters still existing in some example Test Run Info
Files were removed.
• Bugfix: Outdated driver parameters were removed from the product example Test Run
BasicFunctions/VehicleModel/Steering/Pfeffer_Hysteresis_WithTurnSlip.

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 Release History Bugfix Releases 65
Version 13.0.1

• Bugfix: The outdated User Accessible Quantities PT.GearBox.GearNo and

PT.Clutch.rotv_out were removed from the ESP_RTW.mdl product example.
• Bugfix: Various typos in product example file descriptions were fixed.
• Bugfix: The name of the database used in the Info Files of the RBS product example
RBS_vCAN was corrected.

• Bugfix: Outdated additional parameters still existing in some MotorcycleMaker example

vehicle Info Files were removed.
• Bugfix: In some MotorcycleMaker product examples, the Driver.Consider.Traffic param-
eter was falsely set to 1.

HD Scenarios
• Bugfix: Some animated objects were not working correctly in the HD scenario Subur-
banStreet.
• Bugfix: Switching between HD scenarios and other Test Runs could cause some ele-
ments of the scene to be missing.
• Bugfix: An unnecessary braking maneuver of the ego vehicle was fixed in the HD Sce-
nario Parking Garage.
• Bugfix: An unnecessary braking maneuver of the ego vehicle was fixed in the HD Sce-
nario San Francisco.
• Bugfix: Due to internal changes, the download link for HD Scenarios has been adjust-
ed.

Documentation
• Bugfix: The supported OpenDRIVE versions listed in chapter 1.3 ’Compatibility and
Supported Standards’ were incomplete.
• Bugfix: The software discontinuation process described in this document was outdated.
• Bugfix: The documentation of the Camera RSI in the User’s Guide was enhanced
regarding the usage of a RSDS client with further options like port specification.
• Bugfix: The Camera RSI documentation in the Reference Manual was updated with the
information that TGPU.GPUSensor.<No>.Total is not valid for Camera RSIs in VIB
mode.
• Bugfix: The description of the parameters for the driving maneuver Velocity Control in
chapter 3 of the Reference Manual has been improved.
• Bugfix: The outdated description of the quadrature encoder output mode of the function
MIO_M401_SetUnitMode() has been corrected in the Programmer’s Guide.
• Bugfix: The documentation of the MIO M417 driver in the Programmer’s Guide was cor-
rected.
• Bugfix: The function RoadGetSensorObjectList() was not suitably described in the IPG
Road API Reference.
• Bugfix: The description of the IPGDriver’s knowledge parameter Vhcl.Class for defining
the class of the driven vehicle was clarified in the IPGDriver User Manual.
• Bugfix: Missing UML diagrams were added in the Movie NX Python API User’s Guide.
• Bugfix: The Movie NX Python API User’s Guide was updated to the new workflow
regarding the configuration of Test Runs / Movie NX Mounts and scripts.
• Bugfix: The Movie NX Python API User’s Guide node structure diagrams with mirrors
were updated.
• Bugfix: A few outdated sections in the Quick Start Guide have been updated.

CarMaker Release Notes Version 13.1

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Version 13.0.1

• Bugfix: The Product Examples documentation about HD Scenarios was refined, clarify-
ing that RSIs based on IPGMovie cannot be used with HD Scenarios.
• Bugfix: A dead link to another manual was fixed in the User’s Guide for RealtimeMaker.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 67
Feature Highlights

Chapter 4
New Features of CarMaker Product Family
13.0

4.1 Feature Highlights

4.1.1 CarMaker in General

Graphical User Interface

• Loading CarMaker GUI startup script files from data pools
• Addition of visualization specific Test Run parameters to the Additional Test Run
Parameters dialog

Simulation framework
• New product variant CarMaker Office Extended for real-time simulations in Office envi-
ronments

Real-time Expressions
• One new Real-time Expression and extensions of several existing Real-time Expres-
sions

Compilers and development tools

• Support for Eclipse versions 2023-03 and 2023-06

4.1.2 Test Automation

Script Control
• New command Application performance to modify the simulation’s performance mode

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 68
Feature Highlights

4.1.3 Visualization

Movie NX
• Higher level of detail for tree strips in Movie NX
• New HD Scenario CityTunnel

3D assets
• New vehicle and proving ground models in the 3D object library
• Support for compositions of asset and custom vehicles with Asset Info Files in Movie
NX

4.1.4 Vehicle

Car

Powertrain
• New model Free End for the modular powertrain
• Simplified powertrain interfaces for gearbox and clutch
• Extension of Parallel P2 PT Control model regarding opening behavior of de-coupling
clutch
• Physical interface between MCU and motor including models for field oriented control
and a permanent magnet synchronous motor
• New User Accessible Quantities and interface variables for the DrivMan and Vehicle
Control modules for modeling a digital gear selector
• Configurable behavior for DCT TCU when ignition is off

Suspensions
• New ModelClass Susp_TopMount with Kelvin-Voigt damper top mount model
• New model classes for suspension framework:
- Suspension_FrcSystem to model interactions between different force element types
and across the suspensions on different wheels
- Susp_SpringSystem, Susp_DamperSystem, Susp_BufferSystem &
Susp_StabiSystem to model interactions across different wheels for each force ele-
ment type, i.e. spring, damper, buffer, stabilizer.
• New multi-body suspension model FourLinkModExtended
• New multi-body suspension model variant DoubleWishbone ForceCoupling

Brake
• New Hydraulic Integrated Powerbrake Model HydIPB

Tire
• Support of FTire 2023-3
• Support of MF-Tyre/MF-Swift 2306
• Support of TameTire 6.3.7

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 New Features of CarMaker Product Family 13.0 69
Feature Highlights

4.1.5 Sensors

Ground Truth Sensor

• Information on five more object classes: traffic signs, traffic lights, mounts, lanes and
roots

RSIs in general
• Support of albedo textures for Movie NX based RSIs

GPU Coding Interface

• Custom signal generation functions for several RSIs as interface to pre-computed inter-
action points
• New demo example online user signal processing of Ultrasonic RSI

4.1.6 Scenario Editor: Static Scenario and IPGRoad

Static scenario
• Importing multiple routes in KML file
• Moving and rotating multiple objects via temporary groups
• Improved depiction of road paintings
• Improved presentation of height information
• Terrain generation: New option to ignore links and junctions
• Extension of User preferences by default road type
• Expansion of the German traffic sign library

OpenDRIVE import and export

• Export of scenario selection to an OpenDRIVE file

IPGRoad API
• Terrain generation: New option to ignore links and junctions

4.1.7 Scenario Editor: Dynamic Scenario

Ego vehicle and traffic objects
• Start position of ego vehicle and traffic objects selectable via drag and drop

Traffic
• Introduction of new Smart Traffic Generator features:
- Existing Traffic Source sink renamed to Traffic Swarm
- Traffic Swarm with consistent consideration of density and car ratio from lane paths
in road, e.g. to define local traffic condition anomalies in a scenario
- Placeable user sources and sinks on the road to create or remove traffic flow in the
simulation

Maneuver in general
• New maneuver step Follow trajectory for ego and traffic

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 70
Feature Highlights

• New relative target values for the maneuver steps Velocity, Speed transition, Lane
Change and Lane Offset
• New relative position types and orientation types for start and teleport positions

Maneuver for traffic objects

• New lateral maneuver step Lane Offset for traffic objects

IPGDriver
• Revised parametrization of IPGDriver with driver templates
• Reworked and extended dialogs for driver parametrizations, including a new Expert
Parameters dialog
• Reworked and extended dialogs for driver adaption and editing of learned knowledge
• Support for multiple knowledge data per driver from different adaptions
• Improved OpenSCENARIO support
• IPGDriver with speeds lower than 1 kph

4.1.8 ECU Communication and Configuration

Rest Bus Configuration (RBS)

• New configuration dialog for SecOC
• Updated selection method of active CAN channels: Support for channels on different
modules and interface types in the same RBS
• Support for Automotive Ethernet RBS generated from AUTOSAR databases

XCP
• New ECU Sync option to compare the ECU configuration with the ECU settings

4.1.9 Hardware in the Loop

CarMaker HIL for Xpack4 (IPG Automotive)

Hardware
• Update to busybox version 1.26.1
- new commands: /bin/tree, /sbin/seedrng
- new options for the find command: -atime, -ctime, -amin, -cmin, -samefile
• Update mioutil 4.14: unrestricted Memory-Pool-Size
• Update EtherCAT-Module: default Xenomai memory pool size 256M
• Additional Kernel modules macvlan.ko, macvtap.ko, macsec.ko

EtherCAT
• New ProductCode in ESI_File for EtherCAT slave card (F752)
• Reworked EtherCAT State Machine

IO Configurator
• New supported modules:
- M77 Quadruple RS232/423 - RS422/485 UART

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Feature Highlights

- M416 DSI3
- M417 and M417-01 Analog outputs
• M400 with new sensors: A1923, A1933 and TLE5549iC
• On demand propagation of channel-activation to the top

CarMaker HIL for PXI (National Instruments)

• Support for LabView 2023 and Veristand 2023

CarMaker HIL for SCALEXIO (dSPACE)

• Support for dSPACE 2023-A
• Support for dSPACE SCALEXIO targets with 64-bit.

4.1.10 Using CarMaker with Other Components

IPG Tools

Cockpit Package pro

• ADAS and Autonomous Drive Capability
• SensoWheel CAN Interface Integration

OpenSCENARIO Converter
• Integration of the OpenSCENARIO Converter in the CarMaker GUI
• Support for ASAM OpenSCENARIO v1.1 and v1.2
• Extended validation incl. new command line arguments and support for referenced files
• New position types for initialization phase by importing OpenSCENARIO file

Third-party tools

MATLAB
• Support for MATLAB 9.14 R2023a
• The data types of the input and output ports of the Signal Access Block can now be
inherited from the connected blocks and are no longer fixed to double.

Functional Mock-up Units (FMU)

• Loading FMUs from data pools

ADTF
• Synchronization of ADTF run level
• Simplification of connection parameters
• Support for Linux OS

4.1.11 Product Information

Documentation
• New User’s Guide for RealtimeMaker

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4.2 New Features Detailed Description

4.2.1 CarMaker in General

Graphical User Interface

• Loading CarMaker GUI startup script files from data pools
CarMaker GUI startup script files (.CarMaker.tcl files) can now not only be placed in the
current project directory but also in any data pool. This allows users to share GUI-relat-
ed extension logic across projects without copying the file into every single project
directory. The decision which .CarMaker.tcl file is loaded follows the general data pool
logic: A file in the current project directory will supersede one in a shared data pool, a
file in a shared data pool will supersede a file in the product installation.
Please find more information about CarMaker GUI startup script files in the Program-
mer’s Guide, section 25.5 ’Start-up script .CarMaker.tcl’.
• Addition of visualization specific Test Run parameters to the Additional Test Run
Parameters dialog
The dialog Additional Test Run Parameters was reworked. It was previously opened
from the main GUI: Parameters > Additional Parameters, which has been renamed to
Test Run Parameters.
The parametrization of additional parameters for the Test Run is now accessed on the
Additional tab. The tab Visualization handles the parametrization of Movie NX keys for
scripts and mounts, which were previously parameterized in the additional parameters
via the Info File keys: MovieNX.Script.N, MovieNX.Script.<X>.FName and
MovieNX.Mounts.
Please find more information about Additional Test Run parameters in the User’s
Guide, section 14.7 ’Test Run Parameters’.

Figure 4.1: Former Additional Parameters dialog as revised Test Run Parameters dialog with
visualization parameters

Simulation framework
• New product variant CarMaker Office Extended
A product variant CarMaker Office Extended for real-time simulations in Office environ-
ments is available. The main differences compared to CarMaker Office are:
- Fixed real-time factor of 1.0 in the all phases (ramp-up, simulation and idle states)
- Improved timer to avoid time-offsets and cycle violations
- IO communication with the Peak- and Vector-Interfaces

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New parameters and User Accessible Quantities for the observation of the cycle time
distribution are available. Please find further information about features, hardware
requirements and current limitations in the User’s Guide, section 2.1.5 ’CarMaker
Office Extended’.
Note: To run the simulation with CarMaker Office Extended a license extension is
required.

Real-time Expressions
• One new Real-time Expression and extensions of several existing Real-time
Expressions
- The new Real-time Expression CheckCollisionByType was added which checks for
a collision of the trigger entity with other objects of the indicated type. Traffic objects
with object class Unknown or Toy are considered as type misc. Traffic objects with
object class Animals and People are considered as type pedestrian. All other traffic
objects, the ego vehicle, and the trailer are considered as type vehicle.
- A second option for the calculation of the Relative Lane Position is available and can
be selected with the optional parameter UseRefLineDir. For this new option the lon-
gitudinal offset (ds) and the number of offset lanes (dLane) are specified in direction
of the reference line instead of the direction the reference object is facing.
Please find further information in the User’s Guide, section B.2.3 ’Distance and Time
Measurements’.

Compilers and development tools

• Support for Eclipse versions 2023-03 and 2023-06
The Eclipse versions 2023-03 and 2023-06 are supported. More information about the
usage of Eclipse with CarMaker is provided in the Programmer’s Guide, section ’Using
Eclipse’.

4.2.2 Test Automation

Script Control
• New command Application performance to modify the simulation’s performance
mode
A new Script Control function Application performance is introduced to modify the cur-
rently selected performance mode of the simulation. Please find more information in
the Programmer’s Guide, section 25.4.13 ’Application commands’.

4.2.3 Visualization

Movie NX
• Higher level of detail for tree strips in Movie NX
A new level of detail procedure is introduced for tree strips in Movie NX. This method
blends between two 3D models of different complexity depending on the viewing dis-
tance. In order to ensure full utilization of this system and to increase graphical fidelity,
the 3D models used were also exchanged. These measures result in a more detailed
illustration of tree strips in Movie NX.

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• New HD Scenario CityTunnel

A new HD Scenario called Examples/HDScenarios/CityTunnel is available. For more
information please refer to the Product Examples manual, section ’HD Scenarios’.

Figure 4.2: New City Tunnel HD Scenario in Movie NX

3D assets
• New vehicle and proving ground models in the 3D object library
The 3D object library has been extended by 14 new vehicle models and two new "prov-
ing ground" models with different variants. For an overview of new objects, open the 3D
Objects Catalog (CarMaker main GUI > Help > 3D Objects Catalog). In the catalog,
click New in 13.0.

Figure 4.3: Overview of new 3D assets

• Support for compositions of asset and custom vehicles with Asset Info Files in
Movie NX
Compositions of asset and custom vehicles for Movie NX can be created with the newly
introduced Asset Info Files. Please find further information in the Movie NX manual,
section 7.2 ’Asset Info Files’.

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4.2.4 Vehicle

Car

Powertrain
• New model Free End for the modular powertrain
A new model Free End for the modular powertrain is introduced. It works as the end of
a mechanical chain that is not connected to the driveline or the wheels. The model rep-
resents a free-spinning end. An external torque can be applied to it via Direct Variable
Access on the User Accessible Quantities PT.FreeEnd.<Id>.Trq_ext.
Please find further information in the Reference Manual, section 16.4.6 ’Free End’.
• Simplified powertrain interfaces for gearbox and clutch
The powertrain interfaces for gearbox and clutch were simplified. The GearBoxIF and
GearBoxM_IF[i] structs were merged to a single GearBoxIF[i] struct. The ClutchIF and
ClutchM_IF[i] structs were merged to a single ClutchIF[i] struct.
This implies the renaming of several Info File Keys and User Accessible Quantities, as
well as interface variables and parameters for user model extensions and FMUs.
All changes are documented in the UserInterfaceChanges.csv available in the installa-
tion directory under <IPGHOME>/carmaker/<arch>-<version>/doc/
UserInterfaceChanges.csv.
Please note, that the automated project update does not cover all adaptions. See sec-
tion ’Upgrading from Version 12.x to 13.0’ in this document for further information.
• Extension of Parallel P2 PT Control model regarding opening behavior of de-cou-
pling clutch
A new parameter for the Parallel P2 PT Control model is available to define the opening
behavior of the de-coupling clutch. The parameter PowerTrain.Control.Eng-
Stop.ClGrad_Open enables to parametrize the gradient of the engine torque ramp-
down and the gradient for the de-coupling of the clutch. This parameter is treated as
additional parameter. Please find further in the Reference Manual, section ’PTControl
model Parallel P2’.
• Physical interface between MCU and motor including models for field oriented
control and a permanent magnet synchronous motor
The interface between MCU and motor transfers motor voltage and current in stator
phase (UVW) or relative (dq) coordinates. New motor models have been introduced for
a permanent magnet synchronous machine (PMSM) and field oriented control (FOC).
They have been implemented for the product example Demo_Tesla_S.
The model can be selected from the Motor model selection menu on the Powertrain tab

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in the Vehicle Data Set Editor. Its parameters need to be configured on the Additional
Parameters tab.
Please find further in the Reference Manual, section ’Electric Motor model "PMSM"’.

Figure 4.4: New electric motor model PMSM and its parameters

• New User Accessible Quantities and interface variables for the DrivMan and Vehi-
cle Control modules for modeling a digital gear selector
New User Accessible Quantities and interface variables have been added for the Driv-
Man and Vehicle Control modules that allow the modeling of a digital gear selector. The
quantities DM.DigitalSelectorCtrl.<0-2> can be used to generate a square wave signal.
This signal can be interpreted in a Vehicle Control user model to change VC.SelectorC-
trl. A new entry SelectorCtrl_S was added to the enum tSelectorCtrl in Vehicle.h.
• Configurable behavior for DCT TCU when ignition is off
A new set of parameters for the Double Clutch Transmission Control Unit (DCT TCU) is
available that allows the parametrization of the clutch and gearbox state for the case
that the ignition is off.
Please find further in the Reference Manual, section ’Ignition Off’.

Suspensions
• New ModelClass Susp_TopMount with Kelvin-Voigt damper top mount model
A new model class Susp_TopMount is introduced. A top mount can be placed between
damper and vehicle body. Top mounts of this model class can be combined with arbi-
trary damper models, including FMUs, Simulink plug-ins, and C code models.
A new model of a Kelvin-Voigt top mount is introduced (Model Kelvin-Voigt). The model
consists of a parallel connection of a spring and a damper with an optional additional
mass.
Please note: The usage of the old damper model kind Newtonian_wTopMnt is depre-
cated. The same model approach can be represented by combining a simple Newto-

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nian damper and the new KelvinVoigt top mount.

Please find further information in the Reference Manual, section 12.8 ’Damper Top
Mount’.

Figure 4.5: New Damper Top Mounts in the Vehicle Data Set Editor

• New model classes for suspension framework

- New model class Susp_FrcSystem enables the user to model all suspension force
element types, i.e. spring, parasitic effects, damper, buffer and stabilizer in a single
net model, considering the forces on all wheels, making it possible to model interac-
tions between the different force element types and the suspension elements on dif-
ferent wheels. As figure 4.6 shows, the user can incorporate a user model on the
new System tab in the Vehicle Data Set Editor and select which force elements are
modeled by this net model. Accordingly, the respective tabs of these suspension

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force elements are disabled and grayed out, because they are also considered by
the Susp_FrcSystem model. An exception is the Damper tab, because it’s Top-
Mounts can still be parameterized there.

Figure 4.6: New vertical System tab for the Susp_FrcSystem model class

- The new model classes Susp_SpringSystem, Susp_DamperSystem,

Susp_BufferSystem and Susp_StabiSystem enable the user to model all forces of a
specific type in a single net model, e.g. a Susp_SpringSystem model calculates the
spring forces for all wheels of the vehicle, therefore these model classes allow the
user to model interactions between different wheels for the corresponding force

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type. As figure 4.7 shows for the example of the Spring, each of the force elements
now have a horizontal System tab besides the Front and Rear tabs. If the user
selects a user model on the System tab, the Front and Rear tabs get disabled.

Figure 4.7: New horizontal System tab for the Susp_FrcSpringSystem model class

- The Damper tab is shown in figure 4.8, where the Damper TopMount always stays
available.

Figure 4.8: New horizontal System tab for the Susp_DamperSystem model class

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- All new suspension classes have additional full vehicle state inputs and optional
control signals, which can be configured by the user.
- C-Code, Simulink Coder and FMU example models for the suspension force sys-
tem, spring system, damper system, buffer system and stabilizer system model
classes are provided.
Please note: New user models should be incorporated within the framework of the
new model classes and old ones should be adapted to the interface of the model
classes, because the External Suspension Forces model class will be removed in
future CarMaker releases.
More information about the new model structure and parameters is available in the
User’s Guide, section ’Vehicle Model’. For more technical details please refer to the
Reference Manual, section ’Suspension Force Elements’.
• New multi-body suspension model FourLinkModExtended
A new MBS suspension model Fourlink modified is introduced. The differences
between the Fourlink extended and Fourlink modified suspension model are bushings
between wheel carrier and lower wishbone, wheel carrier, and steering rod as well as
between wheel carrier and trailing arm. The upper wishbone is designed as A-arm with
two bushings between upper wishbone and subframe. The stabilizer link can optionally
be attached to the upper wishbone. Please find more information in the Reference
Manual, section 13.6.10 ’Fourlink modified extended suspension’.

Figure 4.9: New Four Link modified MBS axle

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• New multi-body suspension model variant DoubleWishbone ForceCoupling

The ForceCoupling setting is available for the multi-body suspension model Double
Wishbone. Please find more information in the Reference Manual, section 13.6.14
’DoubleWishbone suspension with ForceCoupling’.

Figure 4.10: Double Wishbone MBS model with ForceCoupling

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Brake
• New Hydraulic Integrated Powerbrake Model HydIPB
The new HydIPB Hydraulic Brake System model is available. It models a hydraulic Inte-
grated Power Brake, which previously could not be simulated in CarMaker. The struc-
ture of the HydIPB model is shown in figure 4.11.
Reservoir
p0

Reservoir
Valve
Master Cylinder

Brake
Pressure Booster Pedal
Pres. M
Booster Emulator
Check Valve Valve

Pres. Pres. Pedal Force

Booster Booster Feedback Emulator
Valve 2 Valve 1
Chamber Chamber
Valve 2 Valve 1

Damper Damper
Chamber 2 Chamber 1

to Reservoir to Reservoir

Outlet Outlet
Valve Valve

to Inlet Valve to Inlet Valve

second wheel second wheel
brake brake

Wheel Brake Cylinder Wheel Brake Cylinder

Figure 4.11: HydIPB Braking System

The main novelty of the model is the pressure booster cylinder, depicted in the center.
While in more conventional brake systems the pressure generated in the master cylin-
der is used to build up the braking force, this is not the case for the HydIPB model.
Instead, the pressure booster cylinder is used to generate the brake pressure in the
brake circuits. When a travel of the brake pedal is registered (in reality by a sensor) the
hydraulic brake control unit gives a drive signal to the various valves of the brake sys-
tem. The pressure build up in the pressure booster then leads to the pressure build up
in the circuits.

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For autonomous brake interventions the drive signals for the solenoid valves and the
signals to control the pressure booster will be given by the HydBrake Control Unit inde-
pendently of the pedal travel, i.e. without being triggered by the brake pedal movement.
Please find further information in the Reference Manual, section 17.5 ’High Resolution
Hydraulic Brake System models "HydESP" & "HydIPB"’.

Tire

FTire
• Support of FTire 2023-3
FTire version 2023-3 is supported. Please pay attention to the platform dependency of
this tire model according to section ’Feature Support for Different Target Architectures’.
For more information please refer to the Reference Manual, section 18.8 ’Tire Model
"FTire"’.

MF-Tyre/MF-Swift
• Support of MF-Tyre/MF-Swift 2306
MF-Tyre/MF-Swift version 2306 is supported. The interface was extended to allow the
user to modify some parameters of the .tir file via Info File key and Direct Variable
Access (DVA).
If the Info File key <Param>.Override is set to one, overruling of parameters with syntax
<Param>= LMUX, LMUY, LKX, LKY, LKYZ, LKZC, LTR, INFPLRES is enabled.
<Param.StartVal> sets the start value and overrides the quantity value read from the
*.tir file.
Please pay attention to the platform dependency of this tire model according to section
’Feature Support for Different Target Architectures’.
For more information please refer to the Reference Manual, section 18.7 ’Tire Model
"MF-Tyre/MF-Swift"’.

TameTire
• Support of TameTire 6.3.7
TameTire version 6.3.7 is supported. The new Info File key Init.InfPress for overwriting
the initial inflation pressure read from the .tir file has been introduced.
Please pay attention to the platform dependency of this tire model according to section
’Feature Support for Different Target Architectures’.
For more information please refer to the Reference Manual, section 18.6 ’Tire Model
"TameTire"’.

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4.2.5 Sensors

Ground Truth Sensor

• Information on five more object classes: traffic signs, traffic lights, mounts,
lanes and roots
In the Ground Truth Sensor the selection of object classes to choose for detection is
enhanced by traffic signs, traffic lights, mounts, lanes and roots. In figure 4.12 an exam-
ple of the updated parameterization dialog of the ground truth sensor is shown.

Figure 4.12: Ground Truth Sensor parameterization dialog

For each object class specific additional information is available, such as position, ori-
entation and dimensions for traffic signs, traffic lights and mounts and the current state
of a traffic light. Via the c-code API further information such as neighboring lanes can
be accessed directly by pointers to the according object.
For more information on the Ground Truth Sensor, see Reference Manual section 21.8
’Ground Truth Sensor’.

RSIs in general
• Support of albedo textures for Movie NX based RSIs
The Radar RSI, Lidar RSI and Ultrasonic RSI based on Movie NX now support albedo
textures when using OpenGL.
The sensor preview mimics this behavior and does not render scene lighting anymore.
Please refer to the Reference Manual, section 21.3.9 ’Movie NX limitations’, for details
on the OpenGL support.

GPU Coding Interface

• Custom signal generation functions for several RSIs as interface to pre-comput-
ed interaction points
Custom signal generation functions were added for Lidar RSI, Radar RSI, and Ultra-
sonic RSI as interface to pre-computed interaction points. This functionality can be
used together with custom signal processing functions or as a stand-alone module
within CarMaker’s processing chain of RSIs. Please find more information in the Pro-
grammer’s Guide, section ’GPU Coding Interface’.
• New demo example online user signal processing of Ultrasonic RSI
A basic demo example for the online user signal processing of Ultrasonic RSI with GPU
Coding Interface was added. Please check the Examples/GPUCodingInterface/
src/usonic/user_usonic_signal_processing* files in the CarMaker installation
directory.

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4.2.6 Scenario Editor: Static Scenario and IPGRoad

Static scenario
• Importing multiple routes in KML file
In the Scenario Editor, the option Import from KML file was added. With Import from
KML file, KML files with multiple routes can be imported (see figure 4.14).

Figure 4.14: Import multiple routes in KML file (1)

Every route from the KML file is converted into a Road5 link (see figure 4.15).

Figure 4.15: Import multiple routes in KML file (2)

To improve the overall result of unsuitable KML files, additional postprocessing parame-
ters can be set in the User preferences (User preferences > Import and export > KML
import).

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For more information, see User’s Guide section ’Import from KML file’ and section
’KML import’.
• Moving and rotating multiple objects via temporary groups
For the selection of multiple objects in the object-related tools of the Scenario Editor in
static mode, temporary object groups are now used. These object groups allow to
move and rotate several objects at once by editing the parameters in the object group’s
Parameters tab or by adjusting the object group using the mouse.
Temporary object groups are only available for root objects!

Figure 4.16: Moving and rotating multiple objects in the Road segment tool

To select multiple objects, press and hold Ctrl and click all desired objects or draw a
rectangle around the objects. The objects’s type must match the type of the active tool.
A temporary object group is created for the selected objects.
Background images, global reference lines, links, and junctions can also be grouped
using the Selection mode.
The object group’s rotation center is adjusted automatically.
Elements of object groups that are created with the Selection mode, the Background
image mode, the Global reference line mode, or the Road segment tool can be trans-
formed. After the object group was transformed, objects can be added to or removed
from the object group.
If objects in an object group are transformed, all connections between links and junc-
tions that are part of the object group and links and junctions that are not part of the
object group are removed!
Object groups that are created with tools that are not related to root objects can only be
used to delete several objects at once.

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• Improved depiction of road paintings

The depiction of road paintings in the Scenario Editor has been improved. Instead of a
colored rectangle, the texture of the road painting is now shown in the Scenario Editor’s
top view. This makes it easier to adjust position, orientation and scaling of the road
painting and its texture.

Figure 4.17: Defining road paintings in the Scenario Editor’s top view

• Improved presentation of height information

The presentation of height information of junctions, links and reference lines in the Sce-
nario Editor has been revised. The z values displayed in the Parameters tabs of these
objects can no longer be edited, instead, the resulting height of the junction, link or ref-
erence line is shown there.

Figure 4.18: Resulting z values displayed on a link’s and a junction’s Parameters tab

For junctions using a simple height map and therefor requiring the definition of a z val-
ue, the parameter Height is editable now. For the definition of a link’s or global refer-
ence line’s elevation, the corresponding elevation profile is used. Therefor, the
parameters Height at start and Height at end have been added to its Parameters tab.

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It is no longer possible to delete the elevation profile of a link or global reference line,
since height information is needed for these objects, but a context menu option to
delete all its height points has been added.

Figure 4.19: Revised Parameters tab of an elevation profile

As usual, points defined at start or end of an elevation profile override Height at start or
Height at end, respectively. To illustrate this, the corresponding entries are disabled and
a balloon help is shown. This has also been implemented for the parameters defining a
lane’s width as well as for width, inner and outer height of a raised profile.

Figure 4.20: Disabled overridden parameter in the lane’s Parameters tab

Moreover, in case of a link, the height information of a junction connected to its start or
end might override the link’s elevation, slope or camber profile. This is now illustrated in
the corresponding Parameters tab: A point defined at the link’s start or end is disabled
in the list and provided with a balloon help, if it is overridden.

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To demonstrate this, the depiction in the Scenario Editor’s 2D top view and Height pro-
file view has been adapted. In case the height at start or end is determined by a con-
nected junction, the position is marked with a diamond. Otherwise, if no point is defined
at the position, a triangle is used.

Figure 4.21: Illustration of the source of a link’s height information

• Extension of User preferences by default road type

The Localized settings in the User preferences were extended. A default road type to
be used for the first created link can now be defined. For all further links and junctions,
the last chosen road type is used. Additionally, the friction of new junctions is now auto-
matically set to 1.0.
Please find further information in the User’s Guide, section ’User preferences’.

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• Expansion of the German traffic sign library

The German traffic sign library was expanded with signs of the narrowing board type
(Einengungstafel StVO 531).

Figure 4.22: New lane merge traffic signs

OpenDRIVE import and export

• Export of scenario selection to an OpenDRIVE file
In the Scenario Editor, now only a selection of the scenario can be exported to an
OpenDRIVE file. If nothing is selected, the whole scenario is exported. To select sever-
al elements, use the Selection mode, press and hold Ctrl and click on the elements to
export (or draw a rectangle around them).

IPGRoad API
• Terrain generation: New option to ignore links and junctions
Terrain generation: An option to ignore links and junctions during the terrain generation
was added. It helps to improve the terrain generation for road scenarios with overlap-
ping elements like a parking deck with several levels. To do so, use the Road API with
the flag ROAD_LINK_DONT_ADAPT_TERRAIN (for links) or ROAD_JUNC_DONT_ADAPT_TERRAIN (for
junctions). Please find further information in the User’s Guide, section ’Terrain genera-
tion’.

4.2.7 Scenario Editor: Dynamic Scenario

Ego vehicle and traffic objects

• Start position of ego vehicle and traffic objects selectable via drag and drop
The start position of the ego vehicle and the traffic objects can now be selected by drag
and drop. The object to be adjusted must first be selected. If the object is then hovered
with the mouse, the cursor changes to a cross to indicate the drag and drop mode. With
the left mouse button held down, the ego vehicle or traffic object can be dragged along

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its start position reference. This only works in the s-direction of the selected start posi-
tion reference.
Note: The drag & drop function is not available for the start position type Reference.

Figure 4.23: Positioning of the ego vehicle via drag and drop

Traffic
• Introduction of new Smart Traffic Generator feature
The existing functionality Traffic sources / sinks has been renamed to Traffic Swarm. It
comes with minor changes and additions like a more intuitive parametrization. In addi-
tion, similar advanced traffic generator features were established which, together with
Traffic Swarm, all trade under the mutual name Smart Traffic Generator (see
figure 4.24). The features need to be enabled on the General parameters tab and can
be further parameterized in separate tabs.

Figure 4.24: Smart Traffic Generator General parameters tab with enabled features

With the new functionality User sources, one can place sources manually on a link on
the road. In such sources, traffic objects are created on the specified lane paths during
the simulation to create a spawning traffic flow. The intensity of the flow can be either
adjusted by mode Density or Rate (start velocity and distance to object in front before

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starting are calculated according to the fundamental diagram of traffic flow). User
sources can be interactively placed on the road within the Scenario Editor and are dis-
played in green color on the road (see figure 4.25).
User sinks on the other hand remove traffic objects from the simulation if the traffic
object drives over the lane path position the sink is placed on. Like User sources, sinks
can only be placed on links. Sinks either delete all detected traffic objects in general or
only at a specified rate. User sinks are displayed in red on the specified position on the
road (see figure 4.25).

Figure 4.25: User sources (green or highlighted in yellow) and sinks (red) with parameters and
positioning on road network

The Traffic Swarm now consistently considers varying traffic condition parameters from
the road. By default all links and lanes are placed with traffic objects based on the glo-
bally adjusted traffic density and car ratio. However, a selected traffic density and car
ratio for a specific lane path on the road is considered, too, and overrides the global
parameter set if the option is enabled. By enabling the mode in the Traffic Swarm tab
(figure 4.26), a selected lane path density and car ratio serves as a local traffic condi-
tion anomaly (e.g. to model approaching a traffic jam, see figure 4.27).

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An additional checkbox enables a more advanced mode in which the lane path param-
eters are interpreted as a change in traffic condition, meaning all subsequent lane
paths inherit the parameters from the predecessor lane path’s parameter set. This
might be useful if a road consists of small lane sections and an individual parametriza-
tion of several lane paths might be cumbersome.

Figure 4.26: Traffic Swarm tab with checkboxes to enable the “Consider lane path parameter”
functionality

Figure 4.27: Traffic condition parameters Traffic density and Car ratio of selected lane path

Please find further information in the User’s Guide, section 5.7.3 ’Smart Traffic Genera-
tor’ and in the Reference Manual, section 22.8 ’Smart Traffic Generator’.

Maneuver in general
• New maneuver step Follow trajectory for ego and traffic
The new maneuver step Follow trajectory is available for the ego vehicle and traffic
objects, improving support for the Open SCENARIO standard. Furthermore, this
maneuver step replaces and supplements the traffic maneuver step Path points. The
improved interpolation behavior to determine the position on the trajectory may result in

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deviations between Path points and Follow trajectory.

In this new maneuver step a path (lateral dynamics) is defined by a list of points, which
the vehicle follows until the end of the trajectory is reached. In the case of combined
steps, the time channel (longitudinal dynamics) can also be defined with Follow trajec-
tory.

Figure 4.28: Follow trajectory as a maneuver step

Follow trajectory is accessible on the Lateral dynamics tab (see figure 4.28), where the
lateral dynamics are parameterized. Among other settings, the trajectory type, the posi-
tioning type and the orientation type are specified. In addition to the trajectory type
Spline, as used in Path points, there is now also the type Polyline from the OpenSCE-
NARIO standard. It is also possible to set the trajectory points absolute or relative to
objects. The trajectory is defined in a separate dialog (see figure 4.29).
In case of combined steps, the checkbox Specify time channel on the Lateral tab can
be used to specify whether the longitudinal dynamics of the vehicle should also be
defined using Follow trajectory. In this case, Follow trajectory is also displayed on the
Longitudinal tab and the longitudinal behavior can be parameterized. This includes the
channel input and the time reference type. The time can now be set relative to the pre-
vious trajectory point, the step time, or the global time. If Follow trajectory is only a lat-
eral maneuver step, other maneuver steps can be selected on the Longitudinal
dynamics tab.

Figure 4.29: Table for specifying the trajectory

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In the table (see figure 4.29) the trajectory is defined by a list of points. Depending on
the previous settings, the position, vehicle orientation, curvature, time and velocity are
specified for each target point.
For more information on Follow trajectory, see Reference Manual section 22.5.7 ’Follow
Trajectory’.
Path point maneuver steps are converted automatically to Follow trajectory by the
project update. However, for objects driving backwards, the velocities must now be
entered with a negative sign. This is not updated automatically because it is not known
when an object drives backwards, but a warning is issued during the simulation and the
sign can then be adjusted.
• New relative target values for the maneuver steps Velocity, Speed transition,
Lane Change and Lane Offset
The target values for the maneuver steps Velocity, Speed transition, Lane Change and
Lane Offset can now be specified relative to the speed or lane position of a reference
object. For the steps Velocity and Speed transition the relative target value can be
specified via an offset or a factor to the current speed of the reference object. The refer-
ence objects are specified with their name for traffic objects, "Ego" for the ego vehicle
and "Trailer" for the ego trailer.
For more information, search for “Use reference object” in the User’s Guide, section
5.7.6 ’Maneuvers’.

Figure 4.30: Target values depending on a reference object for ego vehicle maneuvers

• New relative position types and orientation types for start and teleport positions
The options to place the ego vehicle and traffic objects at their start and teleport posi-
tion are further extended. The new position types RelativeRoute, RelativePath, Rela-
tiveLane, RelativeLink, RelativeGlobal and RelativeObject allow a positioning in relation
to other objects using different coordinate systems. The orientation can be further
parametrized with the orientation types Relative, RelativeRef and Absolute. Relative
and RelativeRef define an orientation relative to the corresponding coordinate system
either at the start position or at the position of the reference entity. Absolute means a

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definition of the orientation in the global Fr0 coordinate system.

Search for Positioning type: Reference object in the User’s Guide, section 5.7.2
’Dynamic Scenario Tools’.

Figure 4.31: New start position mode for ego vehicle and traffic objects

Maneuver for traffic objects

• New lateral maneuver step Lane Offset for traffic objects
A new lateral maneuver step Lane Offset for traffic objects is available. An offset to the
middle of the current lane can be parametrized either as an absolute value or as a val-
ue relative to a reference object. A maximum lateral acceleration can optionally be
specified.

Figure 4.32: New lateral maneuver step Lane Offset for traffic objects

IPGDriver
• Revised parametrization of IPGDriver with driver templates
In this release the IPGDriver data storage got restructured with a focus on better reus-
ability of existing driver parametrizations across Test Runs. Therefore, changes were
made to the following components: Driver parametrization dialog, Driver adaption dia-
log and Driver knowledge which will be presented in the following.

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- Reusability of driver parametrizations

These changes are in accordance with the rework of driver parametrizations for traf-
fic objects of the previous CarMaker release. The driver related parameters of the
ego vehicle can now also be saved as a separate file, a so called driver template,
independently of the Test Run. The driver template is now only referenced from
inside the Test Run, to determine the driving behavior of the ego vehicle. Thereby a
driver template can be shared between multiple Test Runs. Additionally, the driver
parameters can still be saved directly to the Test Run like before, for example, if Test
Run specific adaptions need to be made.
- New driver selection
The driver now belongs to the ego vehicle parameters of the Dynamic Scenario Edi-
tor. The driver, which should be used to drive the ego vehicle, can now be selected
from the list of all the available driver templates in the current project directory and
the driver parametrization stored in the current Test Run.

Figure 4.33: Selection of driver in the ego vehicle view of Dynamic Scenario Editor.

To change the selected driver parametrization, the driver browser can be opened by
the button next to the value. In the Driver Template Browser all parametrizations,
available as driver templates in the project directory or embedded into the Test Run,
are displayed in a list.

Figure 4.34: Driver browser

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A brief preview for the current highlighted parametrization and search / filter widgets
help to find the desired parametrization. A matching parametrization can be select-
ed with the Select button. If a parametrization needs to be edited or there is no
matching parametrization yet, there is a shortcut button to open the Driver Editor for
further steps.

Figure 4.35: Shortcut button to open selected driver template for editing.

- New Driver Editor for parametrization of IPGDriver

The new Driver editor can be reached from the browser, using the shortcut button,
or by the dedicated action button in the Dynamic Scenario Editor header:

Figure 4.36: Access to Driver editor

The first item in the list of driver parametrizations has the special value Test Run. It
cannot be renamed or deleted. This item holds the always available parametrization
saved in the current Test Run. The following items are driver templates located in the

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project directory (created by user) and in the installation directory (product exam-
ples). Several new product examples with pre-configured drivers were added and
are available as driver templates in the installation directory.

Figure 4.37: Driver Editor with driver template list and plus button to create a new parametrization.

The plus button opens the assistant for creation of new driver parametrizations.
- Reworked assistant for driver parametrization creation

Figure 4.38: Assistant for new driver parametrization.

The reworked assistant for new drivers now bundles the various means to initialize a
new driver parametrization from different sources. The process of loading pre-con-
figurations has been revised and streamlined, compared to the old Driver Editor. All
the decisions made here are not final. The assistant can be called any time later,
e.g. to reset an existing parametrization.
The Import from ... option allows to replace the current values with the parameters
from an existing Test Run or driver template.
- Reworked Driver parametrization dialog
The Driver parametrization dialog has been cleaned up and re-arranged. Many
parameters, which have been additional parameters before, can now be defined
explicitly from a new Expert Parameters dialog. Parameters which were only valid in
the context of either race driver mode or standard driver mode no longer are visible
in both modes.

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Figure 4.39: Longitudinal parameters in standard driver mode

Figure 4.40: Longitudinal parameters in race driver mode with cross-references to the driver
knowledge

Parameters which are part of the learned Driver Knowledge are better distinguish-
able through the introduction of a new Driver Knowledge Editor. Cross-references
for fast access between the two dialogs are available.
- New Expert Parameters dialog
User defined parameters can be given as additional Info File keys, but many previ-
ous additional parameters have now been moved to a dedicated parametrization
view, which can be reached with the Expert Parameters button on the Additional
Parameters tab.

Figure 4.41: Access button to the Expert Parameters dialog.

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Figure 4.42: New Expert Parameters dialog

- Reworked Driver Knowledge handling

The Driver Knowledge (parameters learned by the Driver Adaption) and parameters
set by the user have been disentangled, with the former moving into their own
Knowledge Editor and Knowledge Browser. Additionally, the number of knowledge
data associated with a given driver has increased from one to an arbitrary number,
allowing e.g. to adapt a driver for multiple vehicles and select from a number of avail-
able knowledge data when switching vehicles, without the need of re-adaption.

Figure 4.43: New driver knowledge dialog with reworked adaption tool.

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The Driver Knowledge is initially empty and receives values after a Driver Adaption
has been performed. All the parameters learned can be fine-tuned manually after-
wards, using the Knowledge Editor. Like before, selected parameters can be tempo-
rary overwritten in the Driver Editor itself.
The Driver Knowledge can be selected, similar to the driver template, in the General
Parameters view of the ego vehicle parameters using the Driver Knowledge Brows-
er.

Figure 4.44: Driver knowledge selection.

- Reworked reading of Info File keys

In order to meet the requirements of the new driver templates, the internal read-in
routine of the Info File keys has been adapted. Furthermore, the keys have been
widely renamed to correspond to the new subcategories of the reworked driver
parametrization view. Finally, the internal parameter structure of IPGDriver was
refactored. All renamed parameters are documented in the UserInterfaceChang-
es.csv available in the installation directory under <IPGHOME>/carmaker/<arch>-
<version>/doc/UserInterfaceChanges.csv.
Please find further information in the User’s Guide, section ’IPGDriver’.
• Improved OpenSCENARIO support
The support for the OpenSCENARIO action FollowTrajectory has been enhanced. As a
result:
- IPGDriver’s behavior at low speeds has been improved.
- IPGDriver’s steering behavior while driving backwards has been improved.
- A new parameter Driver.Lat.SteeringAmp is introduced to influence IPGDriver’s
steering behavior. See chapter 2.5.1 ’Operating the steering wheel’ in the IPGDriver
manual for details.
• IPGDriver with speeds lower than 1 kph
IPGDriver is now able to drive slower than one kilometer per hour. The minimum driving
speed can be set by the additional parameter Driver.Vel.MinimumSpeed in kilometers
per hour (Default: 1.0), see also section 3.1.8 ’Miscellaneous / Additional Parameters’
in the IPGDriver manual.

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4.2.8 ECU Communication and Configuration

Rest Bus Configuration (RBS)

• New configuration dialog for SecOC
The new SecOC configuration dialog, shown in figure 4.45, allows for the configuration
of the parameters necessary to use SecOC with CarMaker. User provided C implemen-
tations of the FVM and the CSM (if not CMAC_AES128) are still required.
Please find further information in the User’s Guide for Real-time Applications, section
4.5.4 ’SecOC - Secure Onboard Communication’.

Figure 4.45: RBS SecOC Configuration Dialog.

• Updated selection method of active CAN channels: Support for channels on dif-
ferent modules and interface types in the same RBS
The new CAN module display, shown in figure 4.46, allows to select CAN interfaces no
matter what hardware or software interface is used.
The first displayed interface is always the interface selected in the IO Configurator and
it can be updated by pressing the reload button.
In Gateway mode, up to three additional CAN interfaces can be selected.
All interfaces shown in the display will be assumed to be active and will be exported
into the generated RBSParameters. Please find further information in the User’s Guide
for Real-time Applications, section ’CAN’.

Figure 4.46: RBS CAN module display.

• Support for Automotive Ethernet RBS generated from AUTOSAR databases

The RBS Configurator allows the import of any Ethernet Cluster from AUTORSAR clas-
sic databases.
If SOME/IP communication is detected in the selected channel, the SOME/IP checkbox
in the New RBS dialog, shown in figure 4.47, will be automatically set to active.
The new PDU type filter allows to restrict which PDUs will be imported. It is implement-
ed as a black list, all selected PDU types will be ignored. The pre-selected types repre-
sent the PDU types not fully supported by CarMaker and deselecting them is not
advised.
Please find further information in the User’s Guide for Real-time Applications, section

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4.5.5 ’Exclude PDU and Frame Types’.

The generated EthParameters is described in Programmer’s Guide in the chapter
18.6.1 ’FlexRayParameters/CANParameters/EthParameters’.

Figure 4.47: Extended New RBS dialog.

XCP
• New ECU Sync option to compare the ECU configuration with the ECU settings
The XCP Setup dialog is now able to synchronize the configuration of an ECU with the
ECU to check for errors. Use the ECU Sync button to trigger the synchronization.
Please find more information in the User’s Guide for Real-time Applications, section 5.2
’Structure of the XCP Setup Dialog’.

Figure 4.48: ECU Sync button in the XCP Setup dialog

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4.2.9 Hardware in the Loop

CarMaker HIL for Xpack4 (IPG Automotive)

Hardware
• Update to busybox version 1.26.1
The busybox was updated to version 1.26.1
- The following new commands are available: /bin/tree, /sbin/seedrng
- The find command provides the following new options: -atime, -ctime, -amin, -cmin, -
samefile
- The command sendmail is no longer supported.
• Update mioutil 4.1
IPG’s mioutil was updated to version 4.14. With it, the memory pool size is now unsre-
stricted.
• Update EtherCAT-Module
EtherCAT module was updated. The default Xenomai memory pool size of 256M is now
used.
• Additional Kernel modules macvlan.ko, macvtap.ko, macsec.ko
The kernel modules macvlan.ko, macvtap.ko and macsec.ko have been added. macv-
lan.ko allows to create virtual interfaces that map packets to or from specific MAC
addresses to a particular interface. The optional module macvtap.ko adds specialized
tap character device driver. The module macsec.ko is currently not used.

EtherCAT
• Reworked EtherCAT State Machine
The behavior of the EtherCAT State Machine has changed. The following changes
have been made:
- State changes can now only be executed after the necessary intermediate states
have been passed through. These transitions will be done automatically.
- Master and Slave state changes are monitored now. If they were unsuccessful a cor-
responding timeout warning will be triggered. The Info File key KPA.<nC>.TimeOut
has been added in KPAParameters to modify this timeout value.
- The slave is now able to change its state without the master doing so.
- The Slave state can no longer be greater than the master state.
- The Slave state follows the master state, triggered by a request.
- The slave can no longer pass any values to its outputs if the current state is not
Operating. To support the old functionality, the Info File key KPA.<nC>.EnableNon-
OPOut was added to KPAParameters, which disables this mechanism.
- The master cannot be switched to the Init state, since otherwise a reconfiguration
and a restart of the simulation program would be necessary. If nevertheless an
attempt is made to switch the master to this state, a corresponding message is dis-
played and the master is switched to the pre-operational state.
Please find more information in the Programmer’s Guide, section 21.3.2 ’Master Con-
figuration’.
• New ProductCode in ESI_File for EtherCAT slave card (F752)
The ESI_File now provides a ProductCode of the EtherCAT slave card (F752) defined
by CarMaker. With the key CIFX.<nC>.SubProductCode a SubID can be defined in
the CIFXParameters file which can be accessed via the function
ECAT_SetSlaveProdCode (). Please find more information in the Programmer’s Guide,
section 21.2 ’Xpack4 as EtherCAT Slave’.

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IO Configurator
The IO Configurator’s module support was extended
• The M77 UART module is now available in the IO Configurator. The parameters for the
module and the messages can now be configured in the user interface. Please find
more information in the User’s Guide for Real-time Applications, section ’UART - M77’.

Figure 4.49: M77

• For the M416 DSI3 four slave and one master channel can be parameterized. Up to 15
sensors can be used per channel and the following modes are supported:
- Command Response Mode (CRM)
- Periodic Data Collection Mode (PDCM)
- Background Diagnostic Mode (BDM)
- Power Function Class Command Response Mode
- Discovery Mode Physical Address Assignment

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Please find more information in the User’s Guide for Real-time Applications, section
’DSI3 Interface- M416’.

Figure 4.50: M416

• The new M417 and M417-01 modules can be chosen in the IO Configurator. The
parameters are the same as for M62N. Please find more information in the User’s
Guide for Real-time Applications, section ’Analog Output - M417/M417-01’.

Figure 4.51: M417 / M417-01

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• M400 with new sensors: A1923, A1933 and TLE5549iC

New sensor types for the M400 wheelspeed module are available: A1923, A1933 and
TLE5549iC sensors.section ’Active Wheelspeed Generator - M400’.

Figure 4.52: M400 new sensors

• On demand propagation of channel-activation to the top

When activating a channel, it will be checked if the module and the group to which the
channel belongs are active, too. If not, a message will be displayed and the module can
automatically be activated.

Figure 4.53: Popup to activate module

CarMaker HIL for PXI (National Instruments)

• Support for LabView 2023 and Veristand 2023
The support for NI LabView 2023 and Veristand 2023 was added.

CarMaker HIL for SCALEXIO (dSPACE)

• Support for dSPACE 2023-A
The support for dSPACE version 2023-A was added.
• Support for dSPACE SCALEXIO targets with 64-bit
CarMaker now supports dSPACE SCALEXIO targets with 32-bit and 64-bit.
Known issue: Source code FMUs can currently not be build for 64-bit SCALEXIO sys-
tems!

4.2.10 Using CarMaker with Other Components

IPG Tools

Cockpit Package pro

• ADAS and Autonomous Drive Capability
The Cockpit Package’s ADAS and autonomous drive capability were enhanced:

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- Effect Parameters
With the standard parameterization, oscillations can occur under certain circum-
stances. To avoid these, the parameters for Cockpit Package pro have been extend-
ed. There are now predefined basic parameter sets available: Default, Medium and
Soft. For a more specific setting, the parameters can also be changed individually.
- Position Control
The integrated position controller of the SENSO-Wheel can now be used for ADAS
and autonomous drive capability.
Please find further information in the User’s Guide, section 15.2.5 ’Parameters for
Cockpit Package Pro’.
• SensoWheel CAN Interface Integration
The SensoWheel can now be used via the CAN Interface and as such it can be config-
ured via the IO Configurator.

OpenSCENARIO Converter
• Integration of the OpenSCENARIO Converter in the CarMaker GUI
The OpenSCENARIO Import dialog is available in the CarMaker main GUI under File >
Import OpenSCENARIO file or by pressing Ctrl+i. This dialog is used to convert a
OpenSCENARIO file (.xosc) into corresponding CarMaker files and load them into Car-
Maker.

Figure 4.54: Import OpenSCENARIO dialog

The file to be converted must be located in the project directory under Data > Open-
SCENARIO. The OpenSCENARIO file can either be selected by clicking the file brows-
er button or by entering the relativ file path between the project directory and the
OpenSCENARIO file location directly.A name for the resulting file is automatically gen-
erated based on the original file name. It is possible to change the name manually.
As long as no ego vehicle is selected, further conversion settings are disabled and the
import process cannot be started.
During the import process, the conversion of the OpenSCENARIO file generates sever-
al CarMaker files. These are Test Run, Vehicle, Road and Traffic object Info Files. The
name of the Test Run file is also used for naming all other files created during the con-
version. For example, the prefix ’_road’ is added to the specified Test Run name for
road files. After the conversion from OpenSCENARIO to CarMaker the generated Test
Run is loaded into the CarMaker GUI.
Please note: When the Test Run is loaded into CarMaker the dialog may be come unin-
teractable.

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- Default settings
The OpenSCENARIO Import dialog tries to match already existing Info Files with the
entities from the OpenSCENARIO file. This provides a better representation and
increases the simulation quality when using sensors. This is achieved by either map-
ping the entities from the OpenSCENARIO to the corresponding CarMaker ego
vehicle and traffic Info File (corresponding command line option: --mapentitiy) or, if
that isn’t applicable, by looking for traffic template objects that match the traffic enti-
ties of the OpenSCENARIO file (corresponding command line option: --trfmobj).
- Ego vehicle
This drop-down is used to select an entity from the OpenSCENARIO file to use it as
the ego vehicle for the Test Run. In the drop-down list you can choose between a
pre-selection of entities, ’no entity’ to convert all entities as traffic, or ’browse all...’.
The latter enables the selection of an ego vehicle from all entities within the Open-
SCENARIO file.
- Validate OSC file
This pre-selected checkbox enables the validation of the OpenSCENARIO file. We
strongly recommend to use the file validation.
- Keep simulation running after last maneuver
Activating this option adds a maneuver step for the ego vehicle to keep the simula-
tion running for the selected time. Note: If a global stop trigger is defined, this option
will be overwritten.
- Set ‘action at end’ for all traffic objects
Activating this option allows to set the end mode action at end for all traffic objects to
either Freeze Velocity, Freeze Position or Hide.
Please find a full description of the OpenSCENARIO Converter in the User’s Guide,
section ’OpenSCENARIO Converter’.
Please note that the usage of the OpenSCENARIO Converter requires a license exten-
sion!
• Support for ASAM OpenSCENARIO v1.1 and v1.2
Support for ASAM OpenSCENARIO v1.1 and v1.2 was added.
The validation process incorporates the appropriate OpenSCENARIO version, either
defined by using the "--oscversion" flag or extracted from the OpenSCENARIO file.
Catalog files are parsed and validated using the version specified in the main Open-
SCENARIO file.
Version 1.2 of the API is used for the conversion.
• Extended validation incl. new command line arguments
New command line arguments are available for the OpenSCENARIO Converter:
- --oscversion: Optional. Sets the version of OpenSCENARIO file used for validation.
Possible values are '100','110' or '120'. If the version is not defined, the OpenSCE-
NARIO Converter takes the version from the file. The latter is always the case when
using the OpenSCENARIO Import dialog.
- --validatedeprecated: Optional. Activates the warning of deprecated features in the
OpenSCENARIO file for the validation. Use this command together with "--validate".
• Support for referenced files
Referenced catalog files are now also included in the validation.
• New position types for initialization phase by importing OpenSCENARIO file
New support of the RelativeLanePosition and RelativeRoadPosition, which could be
defined in the OpenSCENARIO initialization phase with TeleportAction.

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Third-party tools

MATLAB
• Support for MATLAB 9.14 R2023a
The support for MATLAB 9.14 R2023a was added.
For more information on using CarMaker with MATLAB, see Programmer’s Guide sec-
tion ’CarMaker for Simulink’.

Functional Mock-up Units (FMU)

• Loading FMUs from data pools
In addition to the project directory, FMUs can now also be located in shared data pools
and the installation directory. FMUs in data pools and in the installation directory are
read-only and not directly parametrizable. However, a parametrization can be created
and edited in the project directory while the binary files remain outside of the project. In
general, files in the project directory are preferred over files with the same name in data
pools or the installation directory.

Figure 4.55: FMUs located in data pools

Further information can be found in the Programmer’s Guide, section 9.1 ’Integrating
an FMU’.

ADTF
• Synchronization of ADTF run level
CarMaker can now synchronize the ADTF runlevel to its current simulation status.

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• Simplification of connection parameters

Setting up the connection between CarMaker and ADTF 3 has been simplified. It is
now sufficient to specify the ADTF Session URL in the CarMaker ADTF Dialog.

Figure 4.56: Simplified ADTF connection settings

• Support for LinuxOS

The ADTF interface can now also be used on host PCs with Linux operating system.
Further information can be found in the User’s Guide, section 17.2 ’ADAS: ADTF Inter-
face’.

4.2.11 Product Information

Documentation
• New User’s Guide for RealtimeMaker
A new User’s Guide for RealtimeMaker is available. It can be accessed via the Help
menu in the RealtimeMaker main GUI.

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4.3 Bugfixes and Other Changes

4.3.1 CarMaker in General

Graphical User Interface

• The connection between GUI and simulation program has been improved. Without
explicit simulation as target, only simulations started by the same user or running on
the same host will be allowed during a connect, except that there is only one running
simulation in the network. Please find more information in the User’s Guide, section
11.2.1 ’Start and Stop the Executable / Library’.
• With regard to a potentially growing number of shortcuts in the future, the bar on the left
side of the file browser, which contains the icons and shortcuts, can now be scrolled if
necessary.

Figure 4.57: New scroll bar in file browser

• The download and extraction process for HD Scenarios have been improved.
• Bugfix: The proxy dialog when downloading HD Scenarios has been improved.
• Bugfix: To avoid possible errors, interaction with CarMaker is now disabled while a HD
Scenario is downloaded.
• Bugfix: A second CarMaker GUI could take over the role of the main GUI (for the simu-
lation program) although the first GUI was still running and connected. This could lead
to negative behavior, e.g. if a second GUI was connected and disconnected from the
simulation program in CarMaker Office, the simulation program could terminate imme-
diately.
• Bugfix: The GUI required more time to load certain Test Runs in CarMaker version 12
than in previous versions.
• Bugfix: The project update for SLX files was updated due to changes in MATLAB
2020a.
• Bugfix: During the automatic project update, Real-time Expression commands Man-
Jump that do not match the official syntax were not converted correctly to the new
StepJump command.
• Bugfix: The file browser that is used to select the desired CarMaker executable now
opens in the current project directory.
• Bugfix: In the CarMaker HIL’s Application Configuration dialog, the unnecessary menu
entry System Info was removed.
• Bugfix: The behavior of the Unsaved changes dialog when closing the CarMaker GUI
was not correct.

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Bugfixes and Other Changes

• Bugfix: Choosing Browse in the DVA dialog with quantity names containing square
brackets caused a Tcl error.
• Bugfix: File browser annotations (New, Pro, ...) were not displayed when changing to a
parent directory.

Simulation Framework
• Bugfix: A sequence of data dictionary changes that finally neutralized each other could
cancel the User Accessible Quantity delivery for connected APO clients with CarMaker
HIL for Xpack4. Only the next (real) dictionary change (or a reconnect) could end the
clients’ state.

Real-time Expressions
• The relative lane and road position calculations for the distance and time measurement
Real-time Expressions have been improved. A target position on a different link than
the one the reference entity is on is now calculated, if it corresponds to the routing of
the reference entity.
• The calculation of a relative lane position for the distance and time measurement Real-
time Expressions was changed and now considers the reference object’s orientation
instead of its path’s orientation. Furthermore, the lane offset is determined in direction
of the target lane instead of the direction of the reference object’s path. To restore the
old behavior the optional InfoFile Key RTExpr.RelativeLanePos.UseRefEntityPathDir
can be used.
Please find further information on distance and time measurement Real-time Expres-
sions in the User’s Guide, section B.2.3 ’Distance and Time Measurements’.
• Bugfix: In the User’s Guide, the return values of the Real-time Expressions CheckColli-
sion and ReachPosition were clarified to be Boolean expressions in double floating-
point format.

CarMaker Python API

• Bugfix: The following functions have been renamed: Variation.set_storage_buffer_size
to Variation.set_storage_history_ms and Variation.get_storage_buffer_size to Varia-
tion.get_storage_history_ms.
Please find further information in the CarMaker Python API Reference in the Help
menu of the CarMaker Main GUI under Additional documents.
Please find a complete list of all CarMaker Python API functions in the CarMaker
Python API Reference available under Additional Documents in the main GUI’s Help
menu.
• Bugfix: Fixed the vague Exception "-24" message which could occur when starting the
CarMaker executable with the StartupProcessApoBroker. Instead a more meaningful
error message is returned as runtime exception.

Compilers and development tools

• The support for Microsoft Visual C++ 2019 was removed as announced.
• Bugfix: The search for the MSYS installation has been improved in CarMaker Eclipse
projects.
• Bugfix: The variable PYTHONPATH has been added to CarMaker Eclipse projects.

Licensing
• The handling of license dongles was optimized in terms of faster dongle scanning and
code size reduction.

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4.3.2 Test Automation

Test Manager
• When selecting a Settings item in Test Manager’s Test Series tree the corresponding
line within the parameters table is now brought into view.
• Bugfix: The Test Manager’s parallel execution mode did not work when the setting Use
Matlab/Simulink was enabled.
• Bugfix: Creating the maneuver list for the Test Manager’s report sometimes led to a
segmentation fault if the list was too long.
• Bugfix: The values Dist and Time in the TestRunFinished Info File for Test Series run in
parallel execution mode were only saved with two or three decimal spaces.
• Bugfix: Test Configuration items that have been added to an existing Test Series via
CarMaker’s Test Manager were not always appended at the correct position.

Script Control
• Bugfix: The Script Control command QuantSubscribe is now more robust against tim-
ing issues induced by the underlying APO connection.

4.3.3 Visualization
• Bugfix: Starting IPGMovie or Movie NX during a paused simulation did not work cor-
rectly.

Movie NX
• The new Movie NX start option -apodatafrequency allows to specify the frequency of
simulation data updates. Increasing the frequency might be necessary for monitors
with a refresh rate above 100Hz. However, this will decrease the available replay time
span. Please find further information in the Movie NX User Manual, section 3.3.1 ’Com-
mand Line Options’.
• The Unigine package was updated to version 2.17.0.1. The default rendering backends
are now DirectX 12 (Windows) and Vulkan (Linux). OpenGL and DirectX 11 (Windows
only) is still available using the -renderapi option when starting Movie NX, see section
3.3.1 ’Command Line Options’ in the Movie NX manual.
Please note: The experimental render backends Vulkan and DirectX 12 cause perfor-
mance degradation when having high frame rates and/or long simulation durations.
• Bugfix: Relative paths are now allowed for all the distortion files.
• Bugfix: Fisheye renderings could have leaked pixels onto each other for specific config-
urations.
• Bugfix: Under specific circumstances, Movie NX could get stuck when loading a tempo-
rary Test Run (changed Test Run which was not saved).
• Bugfix: The User Guide now explicitly indicates the valid ranges for the environment
parameters sun elevation and rain rate. For the visualization in Movie NX, the rain rate
is now also clamped between 0 and 25 mm/h (= very heavy rain). This helps to avoid
low performance and other issues with particle systems while still providing enough
realism.
• Bugfix: When using CarMaker HIL for PXI (National Instruments), the path conversion
failed. The path conversion from the NI-LRT format to a Windows-usable format tried to
convert Xeno paths. Use the option -projectdir according to section 3.3 ’Command
Line’ in the Movie NX User Manual.
• The bundled Python version was updated to 3.11.5.

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Bugfixes and Other Changes

• Bugfix: Movie NX crashed when accessing Traffic lights with non-defined controllers
through the Movie NX Python API.
• Bugfix: Fixed Movie NX Python API View.set_grid_layout not applying the spacing.
Please find a complete list of all Movie NX Python API changes in the Movie NX Python
API User’s Guide > Migration Guide available under Additional documents in the main
GUI’s Help menu.

IPGMovie
• The command line option -exitAtSimEnd was renamed to -exitatsimend to make it con-
sistent to Movie NX. For now, both notations are supported. However, the camel case
version will be removed with CarMaker 13.1.
• Bugfix: In IPGMovie, some objects were displayed with incomplete shadows.
• Bugfix: Traffic objects with file type .manim were only displayed as a bounding box.
• Bugfix: Adjusting the size of any picture-in-picture view may have led to a crash.
• Bugfix: A Tcl error "key "BBox" not known in dictionary" occurred when at least two dif-
ferent traffic objects had no file name.
• Bugfix: A tcl error could occur under specific circumstances when exporting a video
that contains visualized sensor data from at least 2 GPU sensor instances.
• Bugfix: If Google Earth was opened, IPGMovie could crash.
• Bugfix: A Tcl error occurred when selecting File > Connect to Google Earth if no project
directory was given.
• Bugfix: If the two Script Control commands to delete an IPGMovie window and to cre-
ate an IPGMovie window were sent to IPGMovie immediately one after the other, IPG-
Movie could freeze.
• Bugfix: The example code that shows how to write a CSV file for the rectilinear lens
radial distortion was obsolete and removed.

3D assets
• Animated pedals have been added to cyclist characters.
• Bugfix: Animated "_RightFoot" characters have been added for Movie NX.
• Bugfix: The animations of Pedestrian_Female_Casual_01 have been adjusted to be
more consistent with the animations of other characters.
• Bugfix: All cyclist animations have been updated to have more realistic playback speed.
• Bugfix: The seating positions of all animated cyclists have been updated.
• Bugfix: Foodbiker_Male_01 and Foodbiker_Male_02 had the wrong material and were
displayed improperly in Movie NX.
• Bugfix: The materials parameters for some vehicles were updated.
• Bugfix: The vehicle 3D asset Audi S3 2015 was changed to fix the visual indicator func-
tionality.
• Bugfix: The geometry object ScooterRider_Female_Child_01 and its traffic object tem-
plate were renamed to ScooterRider_Female_Child_01_RightFoot.

4.3.4 Vehicle
• Bugfix: If an encrypted vehicle file was opened, wrong tires were displayed in the main
GUI.

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Bugfixes and Other Changes

• Bugfix: If the vehicle was not reloaded for every Test Run (default for CarMaker HIL or
Vehicle.Reload = Auto for other than CarMaker HIL applications), any error (e.g. a
missing license) during the vehicle initialization led to undefined behavior in the subse-
quent Test Run. This happened only if the subsequent Test Run was started without
modifications in any of the Info Files that were used for the Test Run.

Car

Powertrain
• Bugfix: The P3 PTControl model did not reset the PTControl battery target values cor-
rectly.
• Bugfix: In certain cases, the PTControl model for the P2 hybrid powertrain could start
controlling the decoupling clutch for the engine.
• Bugfix: The quantities for the ClutchM models were missing in the PTControl submod-
ule.
• Bugfix: The electric powertrain did not consider regeneration drag correctly. It would
always provide a drag torque, if the gas interpreter torque target was negative even
when regeneration drag was deactivated.
• Bugfix: The simulation program crashed when using the DCT gearbox model and the
key PowerTrain.Gearbox.*.TrqLossMode was not provided in the vehicle Info File.
• Bugfix: The unused powertrain Info File keys PowerTrain.TCU.Clutch.Grad_open and
PowerTrain.TCU.Clutch.Pos_shift were removed.

Suspensions
• Bugfix: The control signal CtrlIn for suspension force elements was initialized with 0
instead of NOTSET=-99999 if the suspension control unit was not active.
• Bugfix: For Carrier<L,R<.<cTz,kTz> of the TwistBeam and TwistBeamExtended axles,
the third entry of a vector was used instead of a scalar value.
• Bugfix: The deprecated compliance models DisplaceLinFr1 and DisplaceLinFr2 are no
longer supported as announced.
• Bugfix: The Multi-body suspension (MBS) axle McPherson with ForceCoupling did not
consider bushing forces from steer rod to steer rack for ForceCoupling. To restore the
behavior from CarMaker 12 use CompatMode_CM12 = 1 in the MBS Info File or Addi-
tional Parameters.

Truck

Assembly
• Bugfix: In a TruckMaker vehicle, the masses of Body Cab and Platform were not con-
sidered in the Model Check and simulation if Rigid Mounting was chosen.

Suspensions
• Bugfix: The bogie axle was not activated properly. If activated for the second rear axle
(AxleR2.Bogie.Active) several problems occurred:
- The activation was ignored for vehicles with 4 axles or less.
- A bogie axle was activated at the third rear axle (R3) for trucks with 5 axles
- A bogie axle was activated at the third rear axle (R3) for trucks with 6 axles and
caused a misleading warning for axle R4.
Further, AxleR3.Bogie.Active and AxleR4.Bogie.Active were completely ignored.

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Bugfixes and Other Changes

Motorcycle

Suspensions
• Bugfix: The Damper top mount option in the MotorcycleMaker GUI never had any effect
and has been removed.

Tires
• Bugfix: In some cases the static equilibrium position found with MF-Swift tires showed
deviations between the sum of all vertical tire forces and the total vehicle mass.
• Bugfix: Temperature outputs of MF Swift Tire were not documented in the Reference
Manual’s User Accessible Quantity list.
• Bugfix: Fr2 was erroneously described as equal to the TYDEX C axis system in section
’Tire’ of the Reference Manual.

4.3.5 Sensors

Object Sensor
• The maximum rotation angle around the x-axis (roll angle) in the object sensor parame-
terization was extended up to +/- 90 deg.

Traffic Sign Sensor

• The User’s Guide reported a wrong value for the Traffic Sign sensor’s maximum field of
view angle. It was corrected from 180 deg to 90 deg.

Ground Truth Sensor

• Bugfix: The spelling of object ID UAQs and variables in the Ground Truth Sensor was
changed to consistent ObjID and UserID.
• Bugfix: If two Ground Truth Sensors with output referenced to the vehicle frame Fr1
were used, the sensor parallelization did not work correctly.
• Bugfix: The point list sorting was wrong in the vehicle frame Fr1 and sensor frame FrS
output.
• Bugfix: The point list output for double lines did not work correctly.
• Bugfix: Ground Truth Sensors and Camera Sensors could affect each other uninten-
tionally.
• Bugfix: The Ground Truth Sensor did not provide any dimension output for traffic lights
of type Red (large).

Camera Sensor
• Bugfix: The Camera Sensor did not detect traffic lights of type Red (large).
• Bugfix: Ground Truth Sensors and Camera Sensors could affect each other uninten-
tionally.

Radar Sensor
• Bugfix: The RCS Maps dialog could not be closed using the Close button when started
from the Vehicle Data Set Editor Sensors tab.

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Bugfixes and Other Changes

Free Space Sensor and Free Space Sensor Plus

• Bugfix: Both the Free Space Sensor and Free Space Sensor Plus did not work when
defined via external file.

GPU-based Sensors
• Bugfix: When running CarMaker in batch mode with a start-up file and a Test Run
involving GPU sensors, the combination of certain command line options and a start-up
file not containing information about GPU sensors could sometimes cause the Test
Run to fail with the error message "Not enough free GPUSensors available".
• Bugfix: In rare cases, involving a vehicle with many IPGMovie/Movie NX GPU sensors,
the GUI gets stuck in GPUSensor Init after the simulation start.
• Bugfix: It was not possible to trigger a GPU sensor calculation in the first simulation
cycle.
• Bugfix: Fixed an issue where Movie NX used as a GPU Sensor sends the hostname
instead of the IP address, resulting in APO disconnects. This could cause an immedi-
ate time-out error on the second start of the same Test Run and occurred primarily on
HIL systems.
• Bugfix: Fixed a periodic unresponsiveness of the GPU Configuration dialog, when unre-
solvable host names were present.
• Bugfix: When closing GPU Sensors or IPGMovie, they could close with an error in
some cases.

RSIs in general
• The minimum required CUDA version for Lidar RSI, Radar RSI, Ultrasonic RSI has
been increased from 11.2 to 11.7, see section 1.2 ’System Requirements’ in this docu-
ment.
• Bugfix: The new Expert Parameter RSDS.MaxSendDataTries was added to control the
number of times Movie NX and IPGMovie try to send every RSDS data packet. This
stabilizes remotely running RSDS clients. Please refer to section ’Avoiding Network
Congestion’ in the Reference Manual for details.
• The error handling and error reporting was improved for Movie NX based RSIs.
• Bugfix: In rare cases, Movie NX crashed when being improperly started as a GPU Sen-
sor instance from the command line.
• Bugfix: Using Cycle Control or Cycle Offset could cause Movie NX to send a mistimed
result message back to the simulation, triggering prematurely the Movie NX based
RSIs.
• Bugfix: The sensor preview in Movie NX showed object animations even though anima-
tions are not supported by Lidar RSI, Radar RSI and Ultrasonic RSI with a Movie NX
based GPU sensor.
• Bugfix: The occlusion calculation was sensitive to floating point imprecision.
• The documentation of the parameter Range used by Lidar RSI, Radar RSI, and Ultra-
sonic RSI has been improved.

Radar RSI, Ultrasonic RSI, and Lidar RSI

• Bugfix: An insufficient buffer size could lead to an "Unknown error (-99)" when using
RSIs with NVIDIA drivers of version 53X.

Radar RSI
• Bugfix: Noise did not match the expected random distribution.
• Bugfix: The polarization of reflected rays was not always computed correctly.

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Bugfixes and Other Changes

• Bugfix: The Radar RSI could not handle interaction points with exactly perpendicular
incidence.
• Bugfix: Using Named Values in field of view entries broke the calculation of ray num-
bers.
• Bugfix: Activating File output in the sensor assembly could lead to an initialization error.
• Bugfix: A small memory leak occurred if the Radar RSI was simulated.

Lidar RSI
• Bugfix: Geometries tagged as transmissive could only be penetrated up to a depth of
0.5 mm by Lidar RSI rays.
• Bugfix: The absorptance for transmissive materials was corrected in default Material-
Lib.
• Bugfix: Lidar RSI rays used wrong field of view constraints.
• The documentation of the Lidar RSI was improved, explaining the limitations of the
reception area parameter and pointing out appropriate parameterization. See section
21.21.2 ’Intensity Calculation’ in the Reference Manual for details.

Camera RSI

Camera RSI based on MovieNX

• Bugfix: The lighted occlusion texture was not visible when using a fisheye lens.
• Bugfix: A specific setting for the polynomial distortion of the rectilinear lens model
caused the distorted picture to not be displayed properly.
• Bugfix: Fixed a time-out issue that could immediately trigger a "One or more sensors
not ready in time" error after the simulation start. Use SimStart.Anim.Wait (in seconds)
in the SimParameters to increase the time-out for every Test Run initialization.

Camera RSI based on IPGMovie

• Bugfix: In IPGMovie, the camera position for Camera RSIs in VIB mode was set up
incorrectly.
Important: If the old position is needed (e.g. for calibration purposes), the RSI’s posi-
tion needs to be adjusted: Pull the camera 9.9 cm (using 10 cm should be fine in many
cases) backward. This can be useful if IPGMovie is used for Camera RSI in VIB mode
or if switching from IPGMovie 12 to MovieNX 13.
Example: If the settings in CarMaker 12 are x = 2.5, y = 0, z = 1.1, rot_x = rot_y =
rot_z = 0, then change x in CarMaker 13 to x = 2.4 for the same results.
• Bugfix: The IPGMovie visualization format pseudoIR8 was available for Camera RSIs
as RSDS output format erroneously. Only pseudoIR14 is now available as Camera RSI
output format for RSDS.

GPU Coding Interface

• The Ultrasonic RSI’s custom signal processing has been improved in terms of an inter-
face per transmitter.
• Bugfix: With the GPU Coding Interface, it was not possible to distribute RSIs of the
same type on different sensor clusters.
• Bugfix: On Windows hosts, it was not possible to start a simulation with Ultrasonic RSI
and GPU Coding Interface more than once without manually closing the GPU Sensor.
• Bugfix: There were no meaningful error messages when specific errors related to the
GPU Coding Interface occurred.

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4.3.6 Scenario Editor in General

• The active color in the Scenario Editor is now transparent. Thus, the view on other
objects is no longer blocked.

4.3.7 Scenario Editor: Static Scenario and IPGRoad

Static scenario
• The undo/redo functions in the Scenario Editor were improved.
For every step, the relevant object is selected, the corresponding Parameter tab is dis-
played and the associated tool is selected.
The old behavior can be restored in the User preferences with the option Preserve
active object (Scenario Editor > General).
• In the Route editing tool, a pop-up shows information on the selected route. This pop-
up has been extended and shows now also the route’s height at the cursor position.
• The import feature in the Scenario Editor was harmonized. When importing road net-
works from OpenDRIVE files or from HERE HD Live Map, the existing road network is
not replaced anymore. The imported road network is added to the existing road net-
work. If the scenario had been empty before the import, the scenario is replaced by the
imported scenario. This means, that the localized settings of the imported scenario are
used instead of the previously defined localized settings.
• Bugfix: The calculation of the z-values and the normal vector of the transition area of
the extended and virtual junction was incorrect. This could lead to small jumps at the
transition area and junction area.
• Bugfix: The evaluation functions returned a wrong z-value for raised profiles that were
defined at the boundary of an extended junction. Because of this, sign plates were not
placed at the correct height, for example.
• Bugfix: In the Scenario Editor, the height of the existing global reference lines was not
considered when adding a new link, junction or global reference line.
• Bugfix: When splitting a link, the additional parameters of the link’s material definition,
the link’s visualization parameters, and the Named Values of the link’s parameters were
not copied correctly.
• Bugfix: Some of the messages concerning splitting and connecting a route have been
improved.
• Bugfix: If a lane section was added in the Scenario Editor, the material of the lanes,
road markings and traffic barriers of the previous lane section was not copied to the
corresponding objects of the new lane section.
• Bugfix: If a junction arm was deleted, some of the junction reference lines that refer-
enced the no longer connected link were not deleted.
• Bugfix: The preview image of the currently selected lane configuration was imprecise
and had some drawbacks.
• Bugfix: The material preview for an object was only updated if the material definition
was explicitly changed by the user.
• Bugfix: Solved an issue where the automatic route generation created a route that
crosses a lane of type Traffic island.
• Bugfix: In some cases, the automatic route generation produced an unnecessary lane
change.
• Bugfix: In some cases, the automatic route generation deleted existing connector
paths. Additionally, connector paths affected the route generation.
• Bugfix: If the chosen start path started very close to the end of the first link, the auto-
matic route generation did not prevent lane changes within the first route section.

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Bugfixes and Other Changes

• Bugfix: The automatic route generation tool failed in cases where the new route should
lead over a virtual junction.
• Bugfix: The automatic route generation tool failed in cases where the new route should
lead over a link with virtual junctions and then over a junction at the end of the link.
• Bugfix: The automatic route generation behaved differently on the first chosen link
depending on if it was followed by a direct or a non-direct junction and if the chosen
start path belonged to the lane section immediately before the junction or not.
• Bugfix: If a scenario was adapted in a way that affected its routes, for example by delet-
ing a direct junction, these routes were not always adjusted correctly. In particular, a
route was not adjusted if an object group was used to move or rotate a part of the sce-
nario with only a part of the route.
• Bugfix: In some cases, valid connector paths were rejected when read. This could
result in shortened routes.
• Bugfix: The errors and warnings during the route generation have been revised.
• Bugfix: When a road definition was read from an Info File created with older versions
than CarMaker 10.0, the first link connected to a junction was displaced in some cases.
• Bugfix: In some cases, when deleting all points of a lane (via context menu > Delete all
lane width points) or of an elevation, slope, or camber profile (via Parameters tab >
Delete object button), some entries remained in the Parameters tab’s point list.
• Bugfix: The z values of certain junction reference lines could be adapted, although they
are not written into the Info File, since such reference lines have no own height informa-
tion.
• Bugfix: When a point was added to a height profile, the details of the previously select-
ed point were shown in the Parameters tab instead of the information about the new
point.
• Bugfix: If a Named Value was used for a raised profile configuration’s curb or gutter
type, hovering the corresponding widget in the Parameters tab led to an error message.
• Bugfix: If no raised profile of type point list had been active before, creating a raised
profile of type spline with only two points led to an error message. Otherwise, the raised
profile of type point list created since at least three points are needed for a spline used
the configuration of the last active raised profile of type point list instead of the chosen
configuration.
• Bugfix: Raised profile files of type spline or point list that are defined on overlapping
links were not taken into account in the evaluation on all links in the overlap area.
• Bugfix: The snapping of traffic barriers on global reference lines did not work.
• Bugfix: With road markings and traffic barriers with point lists (spline or polylines), it
was not possible to place points on the end of a link.
• Bugfix: Road markings and traffic barriers of type Line can now be drawn on a link with
offset and lane sections.
• Bugfix: Road Markings that were defined on lane borders did not always follow them
correctly.
• Bugfix: In some cases it could happen that not all road markings were linked correctly.
• Bugfix: Some objects (e.g. road markings) were not displayed if they run along the
intersection boundary. To avoid this, the intersection areas of virtual junctions and
extended junctions were virtually widened by approximately 1 m.
• Bugfix: Markers of type Driver speed, Wind or User-defined defining the end of the
validity zone of another marker were ignored if they were defined exactly at the start of
a path.
• Bugfix: An invalid range given for an OpenCRG could lead to a crash.
• Bugfix: When an OpenCRG surface was added to a link, the Detailed visualization flag
was not removed correctly.

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Bugfixes and Other Changes

• Bugfix: When converting road files from IPGRoad versions earlier than 12.0 to
IPGRoad 12.0 files, Detailed visualization was used for all OpenCRG surfaces created
from CRG bumps with Use mesh option.
• Bugfix: Some minor bugs in the OpenCRG description in the IPGRoad Info File
Description were fixed.
• Bugfix: When an OpenCRG surface on a link was deleted, the link’s surface was not
redrawn in the Scenario Editor’s top view.
• Bugfix: In the Scenario Editor, adding a note to an imported object group was not pre-
vented.
• Bugfix: When a road definition was imported, the new names of renamed traffic light
controllers were missing in the corresponding messages.
• Bugfix: If a road definition was imported, the currently chosen parameters for the terrain
generation were overwritten by the corresponding User preferences.
• Bugfix: When a scenario was imported, the Object List was not completed right away.
• Bugfix: The number of objects written to a road file was increased by a temporary
object group used for the import of a scenario.
• Bugfix: A memory leak occurred when using a traffic light in a Test Run.
• Bugfix: When a road definition was read, certain errors concerning the definition of a
lane led to a crash of the GUI.
• Bugfix: When exporting a selection of a road definition, the final depiction of it only
included routes starting on one of the selected links or junctions. Routes running
through or ending in the selected area were not highlighted.
• Bugfix: The export of a selection of a scenario resulted in a discard dialog when loading
a new scenario, even if the scenario was not changed. Moreover, the import of a sce-
nario in combination with the history module did not result in a discard dialog in some
cases.
• Bugfix: When exporting a selection to a road file or Test Run, the GUI crashed if a direct
junction but not all of its connected links were selected.
• Bugfix: If Undo/Redo was used, the information about the objects controlled by a traffic
light controller was removed from the controller’s Parameters tab in some cases. If the
scenario was exported in this invalid state, the information was also missing in the
exported file. Using this invalid file caused unexpected behavior including an error of
IPGMovie.
• Bugfix: If Undo/Redo was used, the description of a scenario was removed.
• Successors and predecessors for parametric cubic curves of type
RPCCT_RoadMarking and RPCCT_TrafficBarrier were not set.
• Bugfix: If a background image with anchor mode Explicit and an image anchor point
with x or y coordinate greater than 50 was defined in a scenario, simulating was not
possible.
• Bugfix: When Ctrl was pressed during an action, a mouse click within the top view
aborted the action and caused unexpected behavior.
• Bugfix: When using the multiple selection mode of a tool, already selected objects with
inappropriate types were not discarded. In the road segment and the global reference
line tool, replacing the already selected objects with the appropriate type by their root
objects did not work properly in all cases.
• Bugfix: In the Scenario Editor, the material parameters and some of the other parame-
ters chosen within a session were not discarded at the end of the session.
• Bugfix: When the User preferences dialog was opened, the current action was aborted,
but the currently active object kept active. This led to inconsistent behavior after the
User preferences dialog was closed.

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Bugfixes and Other Changes

• Bugfix: The junction mode specified in the Scenario Editor’s user preferences was not
always considered correctly. For virtual junctions, the mode Add all junction links had
no effect and the corresponding context menu functionality was missing. Moreover, the
existing junction links of a simple or extended junction were replaced if a junction arm
was added to the junction.
• Bugfix: Using Undo in the Scenario Editor added already known messages to the mes-
sages log.
• Bugfix: The Automatic mesh generation checkbox for extended junctions has not been
tracked in the history and therefore had no undo / redo functionality.
• Bugfix: Visual improvements were made in the terrain’s Parameters tab.
• Bugfix: If the generation of the visualization geometry for an RD5 file that references a
zipped terrain file was called several times in a short time, the generation could fail.
This could occur, e.g. when using multiple RSIs or GPU instances.
• Bugfix: The material ID information needed for IPGMovie (GPU sensor and visualiza-
tion) was missing in generated terrain files.
• Bugfix: When a selected part of a scenario was exported, the parameters of the terrain
were not considered.
• Bugfix: The highlighting of a global reference line’s complete elevation profile in the
Scenario Editor’s 2D top view did not work.
• Bugfix: If a new segment of type File was added to an existing link, the segment was
not highlighted as active in the Scenario Editor’s 2D top view.
• Bugfix: With respect to the Scenario Editor view settings, invalid tree stripes were con-
sidered as Road decorations.
• Bugfix: In the Scenario Editor’s Road segment tool, the mouse cursor of the junction
link mode didn’t behave correctly.
• Bugfix: In some cases, scrollable frames were adjusted iteratively to the available
space.
• Bugfix: The visibility of objects was generally improved in the Scenario Editor.
• Bugfix: Several error messages were improved.

OpenDRIVE import and export

• Bugfix: When importing a road definition from OpenDRIVE, references to invalid road
identifiers led to a crash.
• Bugfix: When a road definition from OpenDRIVE version 1.7 was imported, virtual junc-
tions that use the same road as the main road and subroad could not be imported if the
first connecting road started at the subarm.
• Bugfix: When a road definition from OpenDRIVE was imported, extremely large values
were not caught and led to an error when IPGMovie was started.
• Bugfix: When a road definition was read from OpenDRIVE, virtual connections with
invalid laneLink information were ignored without a message.
• Bugfix: When a road definition was imported from OpenDRIVE, only integer values
were supported as id for roads, junctions, connections, objects, and signals.
• Bugfix: When a road definition was read from OpenDRIVE, double-ended spirals were
not imported correctly. Moreover, spiral geometry elements with curvStart equal to cur-
vEnd and arc geometry elements with curvature zero were not supported. Further-
more, spirals with an R/A ratio unsupported by IPGRoad were simply ignored. Such
elements are now replaced by a point list as an attempt to preserve the geometry of the
roads they belong to and avoid aborting the import.
• Bugfix: When a road definition was imported from OpenDRIVE, invalid connection infor-
mation led to a crash of the Scenario Editor in some cases.

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 New Features of CarMaker Product Family 13.0 125
Bugfixes and Other Changes

• Bugfix: When a road definition was exported to OpenDRIVE, the absolute height was
used for the road’s shape information instead of the height above the reference plane.
• Bugfix: When a road definition was exported to OpenDRIVE 1.5 or 1.6, roads in the
environment of direct junctions were twisted: The road’s shape information did not
match the original road definition.
• Bugfix: If a road definition was exported to OpenDRIVE, the message concerning a not
fully compatible OpenCRG surface was missing in some cases.

HERE HD Live Map import

• The HERE HD Live Map’s proxy settings are now stored in the CarMaker-12.rc user
configuration file, allowing a project and CarMaker version independent settings defini-
tion.
• Bugfix: In rare cases it may happen that sections of a road were not imported and a gap
was created. This has been fixed with the result that simple or extended junctions are
now used more often instead of direct junctions.

IPGRoad API
• Bugfix: For RD5 files created with CarMaker version 10.0 or 10.0.1, the sign of the gra-
dient parameters and the transverse slope needs to be changed for some direct junc-
tions.
If you created RD5 files with CarMaker version 10.0 or 10.0.1 and edited them with
CarMaker version 10.1 to 12.0.1, an automatic correction is not possible. Please check
your files for false gradient parameters and transverse slopes and correct them manu-
ally!
• To simplify the behavior of RoadDeleteLink(), a two-armed junction connecting start
and end of the link is no longer likewise deleted.
• Bugfix: When converting coordinates from the global frame Fr0 in GCS and back from
GCS to Fr0 coordinates using the built-in functions (GCS_ConvGCStoFr0,
GCS_ConvFr0toGCS from GCS.h), there was a small deviation for the GCS Lat and
Long position before and after the conversion within one simulation step. This bug was
fixed for the projection methods FlatEarth and PROJ.
• The function GCS_Init is no longer available, because the GCS initialization is done
once within the road and cannot be changed during the simulation properly.
• Bugfix: RoadIsEmpty() did not consider background images and traffic light controllers.
In the Scenario Editor, this caused inappropriate behavior with scenarios where only
traffic light controllers are defined.
• Bugfix: The first call to the IPGRoad API function RoadRouteEvalExt() with xyz as input
returned no lane information if the xyz point is on a junction.
• Bugfix: The description of the parameter t of the function RoadLaneGetRelLatPosOfXY()
has been corrected.
Please find a complete list of all IPGRoad API changes in the IPGRoad Reference >
Changes available under Additional Documents in the main GUI’s Help menu.

4.3.8 Scenario Editor: Dynamic Scenario

Maneuver in general
• In the ego vehicle and traffic maneuver step dialog, the label Duration has been
renamed to Limit.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 126
Bugfixes and Other Changes

• The internal autonomous completion of paths along the route or a path list in combina-
tion with junctions has been revised to make the functionality more flexible and more
application-specific.
• Bugfix: A lane change to an incorrect lane was performed, if a lane change target value
was specified as an absolute lane, OnlyDrvLane was activated and at least one non-
driving lane was between the current lane and the specified target lane.
• Bugfix: If an update of a traffic object’s path list or the ego vehicle’s path list failed, the
simulation stopped without an error message.
An error message is now sent if an update of the path list of the ego vehicle fails. If an
update of a traffic object’s path list fails, the affected traffic object is deactivated instead
of stopping the simulation.
• Bugfix: The multi-selection menu was missing in Start position when using the object
select button.
• Bugfix: The use of Named Values in the drop-downs Motion and Superimposed in the
Maneuver steps was not possible.

Maneuver for ego vehicle

• Bugfix: When the ego vehicle, one of its trailers, or the corresponding 3D objects (Vehi-
cle Data Set Editor or Trailer Data Set Editor > Body > Outer Shell > 3D Object) were
adapted for the first time after the Scenario Editor has been opened, the top view was
not adjusted if the adaption was a manual deselection.
• Bugfix: Named Values set for the routing parameters of the ego vehicle were not saved.
• Bugfix: When reading a Test Run with Routing type: Not specified something else was
displayed in the GUI.
• Bugfix: A Tcl error occurred when calculating the time Duration for a lateral sine sweep
maneuver.

Maneuver for traffic objects

• As announced with CarMaker 12.0, the option to place or move traffic objects along ref-
erence lines instead of route paths was removed. Start positions are automatically con-
verted.
• Bugfix: In some cases, the Parameters tab was duplicated in the dynamic Scenario Edi-
tor.
• Bugfix: When a selection menu to choose between at least two overlapping traffic
objects in the 2D top view was offered in one of the Scenario Editor’s traffic tools, an
unnecessary error message was shown in the Messages tab.

IPGDriver
• Bugfix: The IPGDriver’s behavior when using the handbrake for driveaway in vehicles
with automatic transmission has been improved: If the selector control has to be moved
to position Drive, the handbrake was released too early, which could lead to rolling
backwards on slopes.
• Bugfix: In some cases, a problem could occur when creating the IPGDriver’s Static
Desired Course in combination with lap driving.
• Bugfix: In some cases, IPGDriver could not drive forwards again after driving back-
wards.
• Bugfix: The quantity DM.StopTime which describes the remaining time standing at a
stop sign could take values lower -1.0 s. This describes the state if no stop sign is
ahead and should be the minimum value of the quantity. This bugfix has no influence
on the simulation behavior.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 127
Bugfixes and Other Changes

• Bugfix: If IPGDriver is inactive on the longitudinal domain (e.g. if the longitudinal

dynamics Manual is chosen in the maneuver settings) the DriveMode was automatical-
ly set to 0 ("normal forward driving"). This could lead to improper steering behavior
when driving backwards. To avoid this, the DriveMode is set to forward or backwards
driving depending on the current gear, selector control, or velocity if the former is set to
neutral.
• Bugfix: The transformation of the lateral acceleration into the IPGDriver’s internal coor-
dinate system was incorrect during backwards driving.
• Bugfix: In some cases IPGDriver considered the ongoing traffic although it should be
ignored with the longitudinal maneuvers Speed Profile, Speed Transition or Not speci-
fied (Default controller).
• Bugfix: The parameter Driver.OBLS.UpdRate for the update rate of IPGDriver’s internal
Object by Lane Sensor had no influence.
• Bugfix: IPGDriver’s parameter Driver.Learn.PT_Kind was not updated to Driv-
er.Learn.DrivelineKind properly in the example Test Runs.
• Bugfix: In some cases, the result of the Driver Adaption phase
IPGDrv_LPhase_tyawpro differed if a Full Adaption or only a Controller Dynamics
Adaption was executed.
• Bugfix: In some cases, the resulting maximum engine speeds of the Driver Adaption
differed if a full adaption or only a Vehicle Limits adaption was executed.

Traffic
• Bugfix: The validation of traffic object names in the GUI did not work anymore. It was
possible to choose too long names or use special characters or blanks that are not sup-
ported by the simulation, IPGMovie, or IPGControl and also lead to invalid traffic object
quantities.
If a Test Run with a too long traffic object name is loaded, it will now be renamed auto-
matically in T<nn>. This change also affects User Accessible Quantities for a renamed
traffic object!
• Bugfix: When using Traffic Swarm (formerly Traffic Source Sink) the initial traffic object
filling procedure on the link around the ego vehicle did not recognize the ego vehicle
properly. If the ego vehicle’s start velocity was relatively low, the traffic objects behind
could sometimes not react to the ego vehicle due to a too high start velocity and too
short gap.
• Bugfix: When using Traffic Swarm (formerly Traffic Source Sink), it led to an error when
reverse driving over a lane section and a junction with the ego vehicle. Now the simula-
tion continues. However, in this case the outer link range around the ego vehicle is not
updated, but only when driving forward over the old position again.
• Bugfix: When using Traffic Swarm, too few traffic objects appeared in the simulation
occasionally due to a too large waiting time of traffic objects in a source.
• Bugfix: In rare cases a segmentation fault occurred when using Traffic Swarm and virtu-
al junctions were part of the road network.
• Bugfix: Defining traffic objects with start positions on a route or path with more than 15
characters as t-coordinate, might have led to a wrong s-coordinate.
• Bugfix: If an autonomously driving traffic object on a route started from standstill, the
simulation program crashed.
• Bugfix: If an autonomous driving traffic object had a desire to overtake in the simulation
cycle before it arrived on the last junction of its routing and the link after the junction
had a length of less than 5m, the simulation crashed.
• Bugfix: At junctions with give way markers without assigned give way or right of way
paths, the deadlock resolution of autonomous driving traffic objects might not have
worked as expected and in very rare cases caused the simulation to crash.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 128
Bugfixes and Other Changes

• Bugfix: In rare cases the first traffic object (object 0) was not considered properly during
a sheer-in situation on a merging lane.
• Bugfix: When importing traffic objects from another Test Run, duplicate traffic object
names could occur.
• Bugfix: When trying to start a simulation with a wrong traffic object parametrization and
fixing it after the first try, invalid User Accessible Quantities "Traffic.*" were created.
• Bugfix: When opening the Remove drop-down menu in the traffic objects list, the
selected traffic object was removed immediately.
• Bugfix: Changes in the static scenario that affect the positioning of dynamic objects
have been processed after a small delay. Now, changes trigger an instant update of the
dynamic objects. During drag-and-drop editing in the static scenario, the dynamic
objects are not shown for a better interaction experience.
• Bugfix: The error message for a missing driver template for autonomous traffic objects
was imprecise.
• Bugfix: Traffic vehicles did not recognize the MyCar.c user vehicle example at the
beginning of the Test Run, because Vehicle.Fr1A was not initialized.
• Bugfix: The user accessible C variable of traffic object’s Cfg.Info always contained an
empty string.
• The Info File key Traffic.<Id>.Info was wrongly documented as a string key instead of
a text key.
• Bugfix: The traffic autonomous driving template Car_Generic_Aggressive was not
usable due to a wrong key.
• When adding a new traffic object, a different vehicle is now used as default.

4.3.9 Environment
• Bugfix: The error message for invalid environment models was clarified.

4.3.10 ECU Communication and Configuration

IO Configurator
• Bugfix: The IOParameters file was not written correctly for mode Set relays.
• Bugfix: It was possible to add CAN and FlexRay channels to a group.

Rest Bus Configuration (RBS)

• The general error response of the RBS Configurator has been improved.
• The SOME/IP name generation for services, events, methods and data types has been
improved as well as the ID recognition for events and methods.
• The generation of the Data Dictionary filter for SOME/IP was reworked which reduces
the required time to run it.
• A new RBS configuration generated from CANdb now has a PDU layer.
• Bugfix: User Accessible Quantities for "OnEvent"-triggered PDUs have been added to
control their cycle times.
• Bugfix: Changes in the RBS configuration are applied after the start of a Test Run. The
complete RBS will then be restarted.
• Bugfix: When starting the CarMaker there were warnings in the Session Log as soon
as a Secured I-PDU is used multiple times.
• Bugfix: When changing the FlexRay RBS configuration and starting a new Test Run, a
segmentation fault occurred sporadically.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 129
Bugfixes and Other Changes

• Bugfix: The baud rate of a FlexRay cluster was not correctly determined for AUTOSAR
databases of version 4.0.
• Bugfix: The support for Fibex version 2 was not working properly and led to Tcl errors.
• Bugfix: With a virtual bus selected in the IO Configurator, the node names were partly
not transferred correctly to the Rest Bus Configurator.
• Bugfix: Every Gateway ECU was automatically assigned to channel 0 in the RBS Con-
figurator although another channel was selected in the IO Configurator.
• Bugfix: The separation time was not shown for SOME/IP fields in the Rest Bus Config-
urator.
• Bugfix: A Tcl error could occur while loading an AUTOSAR database containing Sec-
OC.
• Bugfix: If a CANdb was used to create the RBS, the multiple transmitter check during
saving used ECUs that were not included in the RBS.
• Bugfix: Importing code did not enable the Apply button.
• Bugfix: Opening a file that does not contain any C functions in the Import dialog led to a
Tcl error.
• Bugfix: If the build dialog was closed while saving, a Tcl error could occur.
• Bugfix: A Tcl error could occur if an RBS was loaded in which the e2e_p2 flag is used.
• Bugfix: The behavior of the timing editor in the dialog was improved.
• The fibex2flex and fibex2sip utilities were removed with CarMaker 13.0 as the RBS
Configurator fully replaces this functionality.

SecOC
• Bugfix: An invalid SecretKey with a length of zero lead to a segmentation fault.
• Bugfix: The Info File Key PDU.<Name>.AuthenticPDU was read in even without an
active SecOC configuration. This led to various problems and malfunctions, e.g. influ-
encing the transmission behavior.

XCP
• Bugfix: Receiving DTO packages for XCP on Ethernet with small ODT sizes was
slowed down by too many memmove operations. The processing of XCP packages has
been optimized by avoiding memmove.
• Bugfix: If the CANIfParameters Info File was reloaded in the XCP Setup dialog, the dis-
play of the used CAN interface was not reset correctly.
• Bugfix: CAN-FD was not correctly exported if activated manually.
• Bugfix: A2L files containing a characteristic with the keyword "READ_ONLY" were not
correctly parsed.
• Bugfix: The Info File key ECU.<n>.TimestampSource was documented incorrectly. With
CarMaker 12.0, the ECU.<n>.TimestampSource key had been renamed to
ECU.<n>.TimestampSource.Deprecated. In addition, the default value had changed
from ECU to CM.
• Bugfix: In the Programmer’s Guide, an incorrect default value for
ECU.<n>.OverrideASAP2 was documented. The default value is 1 instead of 0.

4.3.11 Hardware in the Loop

• Bugfix: Fixed an issue where the simulation would be stuck in post processing on HIL
systems. The issue would occur in rare cases, if the vehicle speed at the end of the
simulation was very low and the manual clutch was closed.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 130
Bugfixes and Other Changes

Fail Safe Tester (FST)

• For the Minimaneuver Command Language, group names can now have up to 50 char-
acters. Previously, a maximum of 15 was allowed.
• Bugfix: If a PRC channel was connected using the Minimaneuver Command Language
to a group to which other signals are already connected, the simulation program
crashed.
• Bugfix: The behavior for unsaved Fail Safe Tester configurations was improved when
exiting the Fail Safe Tester dialog.
• Bugfix: The connection to the Fail Safe Tester(s) could not be established if CarMaker’s
or RealtimeMaker’s cycle time was lower than 1 ms.
• Bugfix: RealtimeMaker could not recognize signal classes, so critical or forbidden con-
nections could not be prevented from being established.

CarMaker HIL for Xpack4 (IPG Automotive)

Diagnostics
• Bugfix: The CAN communication for diagnostic requests or responses was not started
properly.
• Bugfix: When using the diagnostic module, communication via the CAN interface did
not work and led to several warnings during CarMaker initialization.
• Bugfix: Error messages provided by the ECU diagnostics were extended.

Bus systems
• The product example IO_CAN has been revised to allow cycle times smaller than 1ms.
• Bugfix: With the M-Modules M51 or M410, it was possible to send a CAN frame even if
the CAN communication was not started correctly by a previous call of CANIf_Start().

IO Configurator
• M412: The parameter to configure the origin has been renamed from CarMaker to User
settings.

XENO-RT
• The doas command provides more detailed usage output with explanation of options.
• Bugfix: The FlexCard ID was shown even if scanning a single module slot.

CarMaker for Real-time Applications for PXI (National Instruments)

• Bugfix: When adding a CarMaker User Accessible Quantity (UAQ) to the inputs or out-
puts of the CarMaker Custom Device, the name of the UAQ was not properly extracted
from the quantity list. Additional information (e.g. unit) was added to the quantity name
which had to be deleted manually before adding the input or output.
• Bugfix: The main page of the CarMaker Custom Device sometimes showed the error
message "Unable to find Installation Directory" if a CarMaker installation with an
uncommon version was found (e.g. beta version).
• Bugfix: Some instructions to setup NI real-time systems for CarMaker were misleading
in the User’s Guide for Real-time Applications and the Programmer’s Guide.
• Bugfix: When connected with a CarMaker simulation program running on a NI PXI real-
time system with Pharlap OS, the Application Configuration dialog displayed a wrong
working directory.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 131
Bugfixes and Other Changes

CarMaker HIL for SCALEXIO (dSPACE)

• The support for CarMaker HIL for ds1006 (dSPACE) systems has been discontinued as
announced.

RealtimeMaker
• Bugfix: RealtimeMaker tried to connect to two Fail Safe Testers even if one Fail Safe
Tester or both Fail Safe Testers were disabled.
• Bugfix: The header file Periodic.h was incompatible with RealtimeMaker and the
code did not compile.
• Bugfix: Unnecessary data directories have been removed from the RealtimeMaker
project directory structure.

4.3.12 Using CarMaker with Other Components

IPG Tools

APO Communication Module

• Unified communications model across all platforms: The communications model of the
xeno implementation with a separate thread for handling the actual network I/O is now
used on all platforms, especially improving realtime behavior on HIL platforms other
than xeno.
• Bugfix: An APO client-side race condition could result in a loss of connection in case a
dictionary change occured while subscribing to quantities.

OpenSCENARIO Converter
• Bugfix: The converter crashed if the StartTrigger was not correctly defined in the
ManeuverCatalog files.
• Bugfix: The orientation of LanePosition was converted incorrectly.
• Bugfix: Wrong log information was shown when the evaluation of the lane position
failed.
• Bugfix: When converting an OpenSCENARIO file and attempting to load the Open-
DRIVE file, no proper error message was logged in case of a license error.
• Bugfix: When a wrong name was given using -egoname, all entities were converted into
traffic objects without a warning message.
• Bugfix: The OpenSCENARIO Converter crashed if a non-existing file without validation
was used.
• Bugfix: When converting OpenSCENARIO files that contain ParameterDistribution, the
OpenSCENARIO Converter crashed without error message.

Sim Net
• Bugfix: If the Traffic Object Template files were not located in the project directory, the
import of the templates failed, and the Sim Net-specific Test Runs could not be saved.
• Bugfix: The UAQ SimNet.SimNet<AppID>.Vhcl.PoI.GCS.Long was incorrectly report-
ing the latitude coordinate of the vehicle instead of the longitudinal coordinate.

Third-party tools

MATLAB
• Bugfix: The generated C code did not compile when multiple instances of the Radar
RSI block with output type set to VRx are used in the same Simulink model.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 132
Bugfixes and Other Changes

• Bugfix: When multiple suspension plug-ins were integrated into the same executable
with Simulink Coder, one of two possible errors occurred, depending on the used com-
piler toolchain. On older toolchains, the parameter tuning stopped working. On newer
toolchains, the linker complained about multiple definitions.
• Bugfix: MATLAB callback functions that are specified in the Additional Parameters of
the Vehicle Data Set did not get executed for vehicles that are stored in a shared Data
Pool.
• Bugfix: Invoking cmread with no path or with a directory path fails with an "Invalid argu-
ment" error instead of opening a file browser.
• Bugfix: Due to an issue in MATLAB Simulink, CarMaker for Simulink failed with a
license server time-out on MATLAB Simulink installations newer than R2018 and with
many add-ons. This bug was limited to Linux operating systems.
• Bugfix: External Suspension Forces for 3rd and 4th rear axles were not taken into
account in the simulation with TruckMaker for Simulink.
• Bugfix: Some wires of the fourth trailer axle were not named correctly in the Trailer sub-
system of the TruckMaker4SL library.

Functional Mock-up Units (FMU)

• Bugfix: The automatic registration of FMU for the trailer middle axis was not possible.

• Bugfix: FMUs could not find their resources when they were started with the CarMaker
Python API on Windows hosts.

4.3.13 Product Information

Project templates and examples

• Bugfix: Some inconsistencies in the HD Scenario SuburbanStreet were fixed.
• Bugfix: Two road links weren’t connected correctly in the HD Scenario SanFrancisco.
• Bugfix: In example Test Runs the driver template Car_HDM_Normal was assigned to
all autonomous driving traffic objects. Now the most suitable driver template is
assigned to each object instead.
• Bugfix: Spelling mistakes in several product example descriptions of Test Runs and
Test Series were fixed.
• Bugfix: For some Test Runs, the Product Example Vehicle
DemoCar_MBSSuspensions_DoubleWishbone showed numerically unstable behavior.
• Bugfix: Unused parameters were removed from the
Demo2AxleSemiTruck4x2_IPG_CompanyTruck.
• Bugfix: The error message appearing when using the MyPowerTrainXWD.c product
example with wrong parameters was corrected.
• The RBS and the diagnostic product examples were extended with the IO configuration
files. In addition, the RBS Info Files belonging to the example were supplemented to
their specific suffixes. To better distinguish the examples between Office and HIL appli-
cations, in case of CarMaker HIL the supported architecture is specified directly in the
folder name, e.g. RBS_SecOC and RBS_SecOC-xeno.
• The product example IO_CAN has been revised to allow cycle times smaller than 1ms.
• Bugfix: A wrong implementation of IO_Fast_ECAT example led to segmentation fault.

Documentation
• Bugfix: Some entries in the main GUI’s Help menu were harmonized.

CarMaker Release Notes Version 13.1

 New Features of CarMaker Product Family 13.0 133
Remark for Windows Users

• The IPGDriver User Manual has been revised, especially the sections ’Concepts of
IPGDriver’, ’Parametrization’ and ’Learning Procedure’.
• In the IPG Road API documentation, the information about memory allocation has been
expanded and improved.
• In the Movie NX Python API User’s Guide the difference between Viewport and Cam-
era has been clarified.
• In the Programmer’s Guide, the documentation the Secure Onboard Communication
(SecOC) documentation has been enhanced, see section 18.3.1 ’Secure Onboard
Communication (SecOC)’.
• The User’s Guide for HIL Applications has been renamed into User’s Guide for Real-
time Applications with regard to the new CarMaker Office Extended product line.
• Bugfix: In the Reference Manual, the equation for the automatic gearbox in section
’PTControl OSM Model "Generic"’ was corrected.
• Bugfix: A radar cross section class RCS_Motorcycle was documented for traffic
objects, even though it is not selectable in the traffic object template editor and no fitting
RCS map is available as a product example.
• Bugfix: In the Programmer’s Guide, the SPN format description for J1939 signals was
incomplete. The Offset parameter was missing.
• Bugfix: Corrected the terminology for roll angle according to ISO.
• In the Movie NX Python API User’s Guide the difference between Viewport and Cam-
era has been clarified.

4.4 Remark for Windows Users

Please note, that the CarMaker simulation program is not listed in the Windows Task Man-
ager in CarMaker 13.0. To check for running CarMaker processes (e.g. in case of license
shortage), please execute the following command on the Windows command line:
tasklist | find "CarMaker"

This bug is fixed with CarMaker 13.0.1.

4.5 Remark for RealtimeMaker Users

Please note, that FMUs can not be used with RealtimeMaker in version 13.0.
This bug is fixed with RealtimeMaker 13.0.1.

CarMaker Release Notes Version 13.1

 Upgrading from Version 12.x to 13.0 134
Step 1: Project folder upgrade

Chapter 5
Upgrading from Version 12.x to 13.0

Upgrading a CarMaker project directory from a previous major release of CarMaker is a

two-step process. During the first step, the CarMaker GUI performs an automatic upgrade
of as many files as possible, which mostly applies to data files like Test Runs, vehicle data
etc.
The second step involves upgrading source code of all kinds, like C-files, scripts and Sim-
ulink models. Since this is a rather complex task, an automated update of these parts of a
project is not possible. In order to make this step as smooth as possible, we try to provide
information about changes on the CarMaker side, which might necessitate source code
changes in your project, give you an overview of particular areas and point out details to
consider.
Please note: In the paragraphs below the wildcard pattern src*/ denotes directories like
src, src_cm4sl, src_mm, src_tm4sl etc. A pattern like e.g. User.[ch] denotes both files
User.c and User.h.

Before you upgrade

When upgrading from a version of CarMaker older than 11.0 or 11.1, upgrade properly to
the latest available version of CarMaker 11.0 or 11.1 first, and only afterward move on to
CarMaker 12.0.

5.1 Step 1: Project folder upgrade

The Update/Upgrade Project dialog accessible via the CarMaker GUI supports interactively
when upgrading an existing project directory to CarMaker 13.0. It opens automatically when
the CarMaker GUI detects an old project directory.
In a first step, you have to select which components of CarMaker should be upgraded. The
default selection reflects what is currently present in the active project directory. Before pro-
ceeding, you may also decide whether a backup of the selected components should be cre-
ated.

CarMaker Release Notes Version 13.1

 Upgrading from Version 12.x to 13.0 135
Step 1: Project folder upgrade

Please note that an updated project is no longer available for usage with the previous Car-
Maker major release and its bugfix releases!
During the following update process, where possible, unmodified product example files in
the project directory are cleaned. Files in the Data directory are converted automatically to
the CarMaker 13.0 format. The update includes:
- an update of all Info File keys according to DataType IFkey in <IPGHOME>/
carmaker/<arch>-<version>/doc/UserInterfaceChanges.csv
- an update of renamed User Accessible Quantities according to DataType “UAQ” in
<IPGHOME>/carmaker/<arch>-<version>/doc/UserInterfaceChanges.csv
in
- Real-time Expressions used in Maneuver, Traffic, Characteristics in Test Series
- Direct Variable Access commands in the Maneuver definition and in the DVA dia-
log settings
- Output Quantities configurations
- Test Series with diagrams and criteria
- CarMaker for Simulink models with Read/Write CM Dict blocksets
UAQs from older CarMaker versions which were removed get the prefix
“REMOVED_” allowing an easy parsing.
- an update of all Test Runs containing links to renamed product example vehicles or
road definitions according to DataType FileName in <IPGHOME>/carmaker/
<arch>-<version>/doc/UserInterfaceChanges.csv
- an update of references to renamed or restructured 3D geometry objects according
to DataType FileName in <IPGHOME>/carmaker/<arch>-<version>/doc/
UserInterfaceChanges.csv
- changes in 3D geometry object files (*mobj, *manim) according to DataType FileNa-
me in <IPGHOME>/carmaker/<arch>-<version>/doc/
UserInterfaceChanges.csv in the Test Run and *.rd5 files. 3D geometry objects
from older CarMaker versions which were removed in the current CarMaker get the
prefix “REMOVED_” allowing an easy parsing.
- adding of new CarMaker c- and header files in the src folder with backup of the
existing files. A backup of source files to be updated is created (e.g. FILE.c ->
FILE_yyyyddmm.c).
The automatic project update has the target to change the content of CarMaker Info Files
to match with the new major release’s format and, at the same time, to guarantee the same
behavior as when using the unconverted data with the previous major release wherever
possible.
After the update process has finished, you have to port your own modifications from the
backup files to the new source files in the src*/ directories. Further adaptions to user spe-
cific project extensions might be required, see section 5.2 ’Step 2: Updating your source
code and other user specific extensions’.

Restrictions of the automated project update

Please note that the automated project update does not include the update of
• Script Control scripts
• UAQs used in the road scenery definition (e.g. as traffic light condition or within Driv-
Man commands)
• the deprecated Minimaneuver commands DMjmp and DMjmpn being part of the Driv-
Man commands in the road scenery definition
• Path point maneuver steps with scaled Path point time channel

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 Upgrading from Version 12.x to 13.0 136
Step 1: Project folder upgrade

• Path point maneuver steps converted to Follow trajectory with backwards driving
objects
• terrain files created by the user
• modular powertrains
Those require a manual update! Please note the following hints for the topics Path point
maneuver steps and modular powertrains below.

Path point maneuver steps

Path point maneuver steps are changed to Follow trajectory automatically. However, if the
Path point time channel had been scaled in the CarMaker 12.0 Test Run, a scaling factor
for Follow trajectory must now be added manually with the TimeScale key. The new scaling
factor is equal to the maneuver step time limit divided by the maneuver step duration spec-
ified in the table, which is obtained by summing up the time entries. The scaling factor can-
not be calculated automatically because it is possible that some of the time entries are
calculated internally in the simulation program at the start of the maneuver step and are
therefore not yet known.
Path point maneuver steps are converted automatically to Follow trajectory by the project
update. However, for objects driving backwards, the velocities must now be entered with a
negative sign. This is not updated automatically because it is not known when an object
drives backwards, but a warning is issued during the simulation and the sign can then be
adjusted.

Powertrain model Modular manual update

The modular Powertrain model is not supported by the GUI which is why there is no auto-
matic update for modular Powertrain model Info Files.
The valid id for the gearbox and clutch module has changed. In CarMaker 12.0 the id for the
clutch and gearbox module started with -1. In CarMaker 13.0 the id for the gearbox and
clutch module is zero-based (starting from 0).

Example CM-12: PowerTrain.MechComp.1.ModelClass = PTGearbox -1

CM-13: PowerTrain.MechComp.1.ModelClass = PTGearbox 0

CM-12: PowerTrain.MechComp.2.Input.3 = rotv_out rotv_in PTGearbox -1

CM-13: PowerTrain.MechComp.2.Input.3 = rotv_out rotv_in PTGearbox 0
This change was introduced because the arrays GearBoxM[i] and ClutchM[i] in Car/Power-
Train.h are deprecated in CarMaker 13.0. Both arrays were merged with GearBoxIF and
ClutchIF respectively.
Info File keys have to be updated manually as well. Changes to the Info File keys can be
fo u n d in <IPGHOME>/carmaker/<arch>-<version>/doc/
UserInterfaceChanges.csv.
Reference names for the input and output configurations for the gearbox and clutch
changed as well. This primarily affects the TCU and PTControl input and output configura-
tion.

Table 5.1: Changes to PTControl reference names.

Old Reference Names PTControl New Reference Names PTControl

CfgIF.nGearBoxM CfgIF.nGearbox
CfgIF.GearBox.GBKind CfgIF.Gearbox.<i>.GBKind
CfgIF.GearBoxM.GB_m<i>.GBKind

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 Upgrading from Version 12.x to 13.0 137
Step 1: Project folder upgrade

Table 5.1: Changes to PTControl reference names.

Old Reference Names PTControl New Reference Names PTControl

CfgIF.GearBox.ClKind CfgIF.Gearbox.<i>.ClKind
CfgIF.GearBoxM.GB_m<i>.ClKind
CfgIF.GearBox.nFGears CfgIF.Gearbox.<i>.nFGears
CfgIF.GearBoxM.GB_m<i>.nFGears
CfgIF.GearBox.iFGear<j> CfgIF.Gearbox.<i>.iFGear<j>
CfgIF.GearBoxM.GB_m<i>.iFGear<j>
CfgIF.GearBox.nBGears CfgIF.Gearbox.<i>.nBGears
CfgIF.GearBoxM.GB_m<i>.nBGears
CfgIF.GearBox.iBGear<j> CfgIF.Gearbox.<i>.iBGear<j>
CfgIF.GearBoxM.GB_m<i>.iBGear<j>
ClutchIn.Pos ClutchIn.<i>.Pos
ClutchM_In.Cl_m<i>.Pos
ClutchIn.rotv_in ClutchIn.<i>.rotv_in
ClutchM_In.Cl_m<i>.rotv_in
ClutchIn.rotv_out ClutchIn.<i>.rotv_out
ClutchM_In.Cl_m<i>.rotv_out
ClutchIn.Trq_in ClutchIn.<i>.Trq_in
ClutchM_In.Cl_m<i>.Trq_in
ClutchIn.Trq_out ClutchIn.<i>.Trq_out
ClutchM_In.Cl_m<i>.Trq_out
ClutchIn.i_TrqIn2Out ClutchIn.<i>.i_TrqIn2Out
ClutchM_In.Cl_m<i>.TrqIn2Out
GearBoxIn.GearNo GearboxIn.<i>.GearNo
GearBoxM_In.GB_m<i>.GearNo GearboxIn.<i>.GearNo_dis
GearBoxIn.GearNo_dis
GearBoxM_In.GB_m<i>.GearNo_dis
GearBoxIn.i GearboxIn.<i>.i
GearBoxM_In.GB_m<i>.i
GearBoxIn.Trq_DriveSrc_trg GearboxIn.<i>.Trq_DriveSrc_trg
GearBoxM_In.GB_m<i>.Trq_DriveSrc_t
rg
GearBoxIn.rotv_in GearboxIn.<i>.rotv_in
GearBoxM_In.GB_m<i>.rotv_in
GearBoxIn.rotv_out GearboxIn.<i>.rotv_out
GearBoxM_In.GB_m<i>.rotv_out
GearBoxIn.Trq_in GearboxIn.<i>.Trq_in
GearBoxM_In.GB_m<i>.Trq_in
GearBoxIn.Trq_out GearboxIn.<i>.Trq_out
GearBoxM_In.GB_m<i>.Trq_out
GearBoxIn.Clutch.Pos GearboxIn.<i>.Clutch.Pos
GearBoxM_In.GB_m<i>.Clutch.Pos GearboxIn.<i>.Clutch_dis.Pos
GearBoxIn.Clutch_dis.Pos
GearBoxM_In.GB_m<i>.Clutch_dis.Pos

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 Upgrading from Version 12.x to 13.0 138
Step 1: Project folder upgrade

Table 5.1: Changes to PTControl reference names.

Old Reference Names PTControl New Reference Names PTControl

GearBoxIn.Clutch.rotv_in GearboxIn.<i>.Clutch.rotv_in
GearBoxM_In.GB_m<i>.Clutch.rotv_in GearboxIn.<i>.Clutch_dis.rotv_in
GearBoxIn.Clutch_dis.rotv_in
GearBoxM_In.GB_m<i>.Clutch_dis.rotv
_in
GearBoxIn.Clutch.rotv_out GearboxIn.<i>.Clutch.rotv_out
GearBoxM_In.GB_m<i>.Clutch.rotv_out GearboxIn.<i>.Clutch_dis.rotv_out
GearBoxIn.Clutch_dis.rotv_out
GearBoxM_In.GB_m<i>.Clutch_dis.rotv
_out
GearBoxIn.Clutch.Trq_in GearboxIn.<i>.Clutch.Trq_in
GearBoxM_In.GB_m<i>.Clutch.Trq_in GearboxIn.<i>.Clutch_dis.Trq_in
GearBoxIn.Clutch_dis.Trq_in
GearBoxM_In.GB_m<i>.Clutch_dis.Trq_
in
GearBoxIn.Clutch.Trq_out GearboxIn.<i>.Clutch.Trq_out
GearBoxM_In.GB_m<i>.Clutch.Trq_out GearboxIn.<i>.Clutch_dis.Trq_out
GearBoxIn.Clutch_dis.Trq_out
GearBoxM_In.GB_m<i>.Clutch_dis.Trq_
out
GearBoxIn.Clutch.i_TrqIn2Out GearboxIn.<i>.Clutch.i_TrqIn2Out
GearBoxM_In.GB_m<i>.Clutch.i_TrqIn2 GearboxIn.<i>.Clutch_dis.i_TrqIn2Out
Out
GearBoxIn.Clutch_dis.i_TrqIn2Out
GearBoxM_In.GB_m<i>.Clutch_dis.i_Tr
qIn2Out
ClutchOut.Pos ClutchOut.<i>.Pos
ClutchM_Out.Cl_m<i>.Pos
ClutchOut.rotv_out_trg ClutchOut.<i>.rotv_out_trg
ClutchM_Out.Cl_m<i>.rotv_out_trg
ClutchOut.Trq_out_trg ClutchOut.<i>.Trq_out_trg
ClutchM_Out.Cl_m<i>.Trq_out_trg *
GearBoxOut.GearNoTrg * GearboxOut.<i>.GearNoTrg *
GearBoxM_Out.GB_m<i>.GearNoTrg * GearboxOut.<i>.GearNoTrg_dis *
GearBoxOut.GearNoTrg_dis *
GearBoxM_Out.GB_m<i>.GearNoTrg_d
is
GearBoxOut.set_parkBrake GearboxOut.<i>.set_parkBrake
GearBoxM_Out.GB_m<i>.set_ParkBrak
e
GearBoxOut.i_trg * GearboxOut.<i>.i_trg *
GearBoxM_Out.GB_m<i>.i_trg *
GearBoxOut.rotv_in_trg * GearboxOut.<i>.rotv_in_trg *
GearBoxM_Out.GB_m<i>.rotv_in_trg *
GearBoxOut.Trq_out_trg * GearboxOut.<i>.Trq_out_trg *
GearBoxM_Out.GB_m<i>.Trq_out_trg *

CarMaker Release Notes Version 13.1

 Upgrading from Version 12.x to 13.0 139
Step 1: Project folder upgrade

Table 5.1: Changes to PTControl reference names.

Old Reference Names PTControl New Reference Names PTControl

GearBoxOut.Clutch.Pos * GearboxOut.<i>.Clutch.Pos *
GearBoxM_Out.GB_m<i>.Clutch.Pos * GearboxOut.<i>.Clutch_dis.Pos *
GearBoxOut.Clutch_dis.Pos *
GearBoxM_Out.GB_m<i>.Clutch_dis.Po
s*
GearBoxOut.Clutch.rotv_out_trg * GearboxOut.<i>.Clutch.rotv_out_trg *
GearBoxM_Out.GB_m<i>.Clutch.rotv_o Gearbox-
ut_trg * Out.<i>.Clutch_dis.rotv_out_trg *
GearBoxOut.Clutch_dis.rotv_out_trg *
GearBoxM_Out.GB_m<i>.Clutch_dis.rot
v_out_trg *
GearBoxOut.Clutch.Trq_out_trg * GearboxOut.<i>.Clutch.Trq_out_trg *
GearBoxM_Out.GB_m<i>.Clutch.Trq_o GearboxOut.<i>.Clutch_dis.Trq_out_trg
ut_trg * *
GearBoxOut.Clutch_dis.Trq_out_trg *
GearBoxM_Out.GB_m<i>.Clutch_dis.Tr
q_out_trg

Table 5.2: Changes to TCU reference names.

Old Reference Name TCU New Reference Names TCU

CfgIF.GearBox.GBKind CfgIF.Gearbox.<i>.GBKind
CfgIF.GearBoxM.GB_m<i>.GBKind
CfgIF.GearBox.ClKind CfgIF.Gearbox.<i>.ClKind
CfgIF.GearBoxM.GB_m<i>.ClKind
CfgIF.GearBox.nFGears CfgIF.Gearbox.<i>.nFGears
CfgIF.GearBoxM.GB_m<i>.nFGears
CfgIF.GearBox.iFGear<gear> CfgIF.Gearbox.<i>.iFGear<gear>
CfgIF.Gear-
BoxM.GB_m<i>.iFGear<gear>
CfgIF.GearBox.nBGears CfgIF.Gearbox.<i>.nBGears
CfgIF.GearBoxM.GB_m<gb>.nBGears
CfgIF.GearBox.iBGear<gear> CfgIF.Gearbox.<i>.iBGear<gear>
CfgIF.Gear-
BoxM.GB_m<i>.iBGear<gear>
ClutchOut.Pos ClutchOut.<i>.Pos
ClutchM_Out.Cl_m<i>.Pos GearboxOut.<gb>.Clutch.Pos
GearBoxOut.Clutch.Pos GearboxOut.<gb>.Clutch_dis.Pos
GearBoxOut.Clutch_dis.Pos
GearBoxM_Out.GB_m<gb>.Clutch.Pos
GearBoxM_Out.GB_m<gb>.Clutch_dis.
Pos

CarMaker Release Notes Version 13.1

 Upgrading from Version 12.x to 13.0 140
Step 1: Project folder upgrade

Table 5.2: Changes to TCU reference names.

Old Reference Name TCU New Reference Names TCU

ClutchIn.rotv_in ClutchIn.<i>.rotv_in
ClutchM_In.Cl_m<i>.rotv_in GearboxIn.<gb>.Clutch.rotv_in
GearBoxIn.Clutch.rotv_in GearboxIn.<gb>.Clutch_dis.rotv_in
GearBoxIn.Clutch_dis.rotv_in
GearBoxM_In.GB_m<gb>.Clutch.rotv_i
n

GearBoxM_In.GB_m<gb>.Clutch_dis.ro
tv_in
ClutchIn.rotv_out ClutchIn.<i>.rotv_out
ClutchM_In.Cl_m<i>.rotv_out GearboxIn.<gb>.Clutch.rotv_out
GearBoxIn.Clutch.rotv_out GearboxIn.<gb>.Clutch_dis.rotv_out
GearBoxIn.Clutch_dis.rotv_out
GearBoxM_In.GB_m<gb>.Clutch.rotv_o
ut
GearBoxM_In.GB_m<gb>.Clutch_dis.ro
tv_out
ClutchIn.rotv_out_trg ClutchIn.<i>.rotv_out_trg
ClutchM_In.Cl_m<i>.rotv_out_trg GearboxIn.<gb>.Clutch.rotv_out_trg
GearBoxIn.Clutch.rotv_out_trg GearboxIn.<gb>.Clutch_dis.rotv_out_trg
GearBoxIn.Clutch_dis.rotv_out_trg
GearBoxM_In.GB_m<gb>.Clutch.rotv_o
ut_trg
GearBoxM_In.GB_m<gb>.Clutch_dis.ro
tv_out_trg
ClutchIn.Trq_in ClutchIn.<i>.Trq_in
ClutchM_In.Cl_m<i>.Trq_in GearboxIn.<gb>.Clutch.Trq_in
GearBoxIn.Clutch.Trq_in GearboxIn.<gb>.Clutch_dis.Trq_in
GearBoxIn.Clutch_dis.Trq_in
GearBoxM_In.GB_m<gb>.Clutch.Trq_in
GearBoxM_In.GB_m<gb>.Clutch_dis.Tr
q_in
ClutchIn.Trq_out ClutchIn.<i>.Trq_out
ClutchM_In.Cl_m<i>.Trq_out GearboxIn.<gb>.Clutch.Trq_out
GearBoxIn.Clutch.Trq_out GearboxIn.<gb>.Clutch_dis.Trq_out
GearBoxIn.Clutch_dis.Trq_out
GearBoxM_In.GB_m<gb>.Clutch.Trq_o
ut
GearBoxM_In.GB_m<gb>.Clutch_dis.Tr
q_out
ClutchIn.Trq_out_trg ClutchIn.<i>.Trq_out_trg
ClutchM_In.Cl_m<i>.Trq_out_trg GearboxIn.<gb>.Clutch.Trq_out_trg
GearBoxIn.Clutch.Trq_out_trg GearboxIn.<gb>.Clutch_dis.Trq_out_trg
GearBoxIn.Clutch_dis.Trq_out_trg
GearBoxM_In.GB_m<gb>.Clutch.Trq_o
ut_trg
GearBoxM_In.GB_m<gb>.Clutch_dis.Tr
q_out_trg

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 Upgrading from Version 12.x to 13.0 141
Step 1: Project folder upgrade

Table 5.2: Changes to TCU reference names.

Old Reference Name TCU New Reference Names TCU

ClutchIn.i_TrqIn2Out ClutchIn.<i>.i_TrqIn2Out
ClutchM_In.Cl_m<i>.i_TrqIn2Out GearboxIn.<gb>.Clutch.i_TrqIn2Out
GearBoxIn.Clutch.i_TrqIn2Out GearboxIn.<gb>.Clutch_dis.i_TrqIn2Out
GearBoxIn.Clutch_dis.i_TrqIn2Out
GearBoxM_In.GB_m<gb>.Clutch.i_TrqI
n2Out
GearBoxM_In.GB_m<gb>.Clutch_dis.i_
TrqIn2Out
GearBoxIn.GearNo GearboxIn.<gb>.GearNo
GearBoxM_In.GB_m<gb>.GearNo
GearBoxIn.GearNo_dis GearboxIn.<gb>.GearNo_dis
GearBoxM_In.GB_m<gb>.GearNo_dis
GearBoxOut.GearNoTrg GearboxOut.<gb>.GearNoTrg
GearBoxM_Out.GB_m<gb>.GearNoTrg
GearBoxOut.GearNoTrg_dis GearboxOut.<gb>.GearNoTrg_dis
GearBoxM_Out.GB_m<gb>.GearNoTrg
_dis
GearBoxIn.i GearboxIn.<gb>.i
GearBoxM_In.GB_m<gb>.i
GearBoxIn.rotv_in GearboxIn.<gb>.rotv_in
GearBoxM_In.GB_m<gb>.rotv_in
GearBoxIn.rotv_in_trg GearboxIn.<gb>.rotv_in_trg
GearBoxM_In.GB_m<gb>.rotv_in_trg
GearBoxIn.rotv_out GearboxIn.<gb>.rotv_out
GearBoxM_In.GB_m<gb>.rotv_out
GearBoxIn.Trq_in GearboxIn.<gb>.Trq_in
GearBoxM_In.GB_m<gb>.Trq_in
GearBoxIn.Trq_out GearboxIn.<gb>.Trq_out
GearBoxM_In.GB_m<gb>.Trq_out
GearBoxIn.Trq_out_trg GearboxIn.<gb>.Trq_out_trg
GearBoxM_In.GB_m<gb>.Trq_out_trg
ClutchOut.Pos ClutchOut.<i>.Pos
ClutchM_Out.Cl_m<i>.Pos GearboxOut.<gb>.Clutch.Pos
GearBoxOut.Clutch.Pos GearboxOut.<gb>.Clutch_dis.Pos
GearBoxOut.Clutch_dis.Pos
GearBoxM_Out.GB_m<gb>.Clutch.Pos
GearBoxM_Out.GB_m<gb>.Clutch_dis.
Pos
GearBoxOut.GearNoTrg GearboxOut.<gb>.GearNoTrg
GearBoxM_Out.GB_m<gb>.GearNoTrg
GearBoxOut.GearNoTrg_dis GearboxOut.<gb>.GearNoTrg_dis
GearBoxM_Out.GB_m<gb>.GearNoTrg
_dis
GearBoxOut.set_ParkBrake GearboxOut.<gb>.set_ParkBrake
GearBoxM_Out.GB_m<gb>.set_ParkBr
ake

CarMaker Release Notes Version 13.1

 Upgrading from Version 12.x to 13.0 142
Step 2: Updating your source code and other user specific extensions

Table 5.2: Changes to TCU reference names.

Old Reference Name TCU New Reference Names TCU

GearBoxOut.i_trg GearboxOut.<gb>.i_trg
GearBoxM_Out.GB_m<gb>.i_trg
GearBoxOut.Trq_DriveSrc_trg GearboxOut.<gb>.Trq_DriveSrc_trg
GearBoxM_Out.GB_m<gb>.TrqDriveSrc
_trg

There were also changes to the Motor reference names.

Table 5.3: Changes to the Motor reference names.

Old Reference Name Motor New Reference Name Motor

Voltage VoltBatt

There were also changes to the Motor Control Unit reference names.

Table 5.4: Changes to the MCU reference names.

Old Reference Name MCU New Reference Name MCU

Voltage VoltBatt

5.2 Step 2: Updating your source code and other

user specific extensions
C-Code extensions
In most cases, user source files are derived from an already existing CarMaker source file.
Reinserting your source code changes means, taking the new version of that particular Car-
Maker source file and inserting your modifications one by one.
Your code fragments might require some changes before they run properly in the new Car-
Maker release. The file UserInterfaceChanges.csv, available in the CarMaker installa-
tion directory under <IPGHOME>/carmaker/<arch>-<version>/doc gives some
guidance of what to change in which way including a comparison of the previous CarMaker
major release and the new version.

Other user specific project extensions

Please note, that changes in Info File keys or UAQ names might affect project specific
implementations of the Instruments Panel, Instrument Designer, custom APO clients and
Simulink models containing e.g. Read CM Dict or From/To CM Var blocks, where names are
usually hardwired in the code.
The file UserInterfaceChanges.csv, available in the CarMaker installation directory
under <IPGHOME>/carmaker/<arch>-<version>/doc gives some guidance of what to
change in which way including a comparison of the previous CarMaker major release and
the new version.

CarMaker Release Notes Version 13.1

 Upgrading from Version 12.x to 13.0 143
Upgrading the real-time environment for CarMaker HIL

Updating CarMaker/TruckMaker for Simulink models

With project folder update described in section 5.1 ’Step 1: Project folder upgrade’ all Car-
Maker/TruckMaker for Simulink example models in the src_cm4sl/src_tm4sl folder are
updated to the new version. However, all CarMaker/TruckMaker for Simulink models con-
taining user changes need special treatment. These models can be updated using the MAT-
LAB scripts ModelUpdate_CM13.m and ModelUpdate_TM13.m in your Simulink folder
(src_cm4sl/src_tm4sl). The scripts update all Simulink models in the folder and save
them as <Modelname> _updated.mdl. A repor t with all changes is saved as
<Modelname>_changes.html. If an update fails, the MATLAB error is shown in the MATLAB
command window and the script proceeds with the next model.
The update scripts are only available in your project folder after the project folder update
described in chapter 5.1 ’Step 1: Project folder upgrade’.
Updating may fail if you inserted models at unpredicted places or changed the model struc-
ture. In that case, you can try to comment out the line update_<component_xyz> which is
shown in the error message and redo the update for the specific model. To restrict the
update to a single model, select the matching model(s) for the variable FileList. The skipped
part has then to be updated manually. All files used for the update are stored in the folder
ModelUpdate, so you can also try to adjust them to your models if errors occur.
As an alternative, you can update your Simulink model or parts of it manually. Copy the new
version of the appropriate IPG example Simulink model from the Simulink folder
(src_cm4sl/src_tm4sl) in the project directory and copy your changes into this new
model. If you need support for upgrading your CarMaker/TruckMaker for Simulink models,
do not hesitate to contact the CarMaker Support Team ([email protected]).

Updating MotorcycleMaker for Simulink models

With project folder update described in section 5.1 ’Step 1: Project folder upgrade’ all Motor-
cycleMaker for Simulink example models in the src_mm4sl folder are updated to the new
version. However, all MotorcycleMaker for Simulink models containing user changes need
to be upgraded manually. Make a copy of the new version of the appropriate IPG example
Simulink model from the Simulink folder (src_mm4sl) in the project directory, and copy your
changes into this new model. If you need support for upgrading your MotorcycleMaker for
Simulink models, do not hesitate to contact the CarMaker Support Team (support@ipg-
automotive.com).

5.3 Upgrading the real-time environment for

CarMaker HIL
Upgrading to CarMaker version 13.0 needs no special steps to configure the real-time envi-
ronments for the supported hardware. Please note, when upgrading from earlier versions
than CarMaker 12.0 the remarks in this section of the CarMaker 12.0 Release Notes!

CarMaker Release Notes Version 13.1

 Announcements for Future Releases 144
CarMaker 14.0

Chapter 6
Announcements for Future Releases

6.1 CarMaker 14.0

With the support of newer versions for operating systems and third party elements, the
compatibility to older releases is discontinued for the following operating systems, tools and
models:

Operating Systems and System Software

• Ubuntu Linux 20.04 will no longer be supported
• dSPACE releases 2021-A and 2021-B will no longer be supported.
• National Instruments LabVIEW and VeriStand 2021 and with it the support of Phar Lap
RT OS will no longer be supported.

Compilers and Development Toolkits

• Eclipse:
The following Eclipse versions will no longer be supported:
Eclipse IDE 2022-03 up to Eclipse IDE 2022-12
• Python 3.7 will no longer be supported.

Models and Model Interfaces

• Tire models
- MF-Tyre/MF-Swift version 2306 will no longer be supported.
- The FTire versions 2023-1 and 2023-2 will no longer be supported.
• Suspension
- The damper model Newtonian_wTopMnt will be removed
- The Suspension External Forces model classes will be removed
• Global functions
- The deprecated function FC_ConfigCC() will be removed with CarMaker 14.0. The
function FC_ConfigCC2() is to be used instead.
• IPGDriver

CarMaker Release Notes Version 13.1

 Announcements for Future Releases 145
CarMaker 14.0

- The deprecated functions to generate, initialize, evaluate and free the ‘IPGDriver-
lite’ will be removed with CarMaker 14.0.

ECU Communication and Configuration

• The additional parameter ECU.<i>.TimestampSource.Deprecated for XCP dstore
mode will no longer be supported.

Utilities
• CANiogen
With CarMaker 14.0, CANiogen will no longer be provided with the CarMaker installa-
tion. The J1939 functionality will be provided by a newly introduced utility. For further
functionality please use the RBS Configurator which replaces and exceeds the CANio-
gen functionality.
• PCANIO
This module will be no longer available in CarMaker Office. It will become an exclusive
feature of CarMaker Office Extended.
• The RBS compatibility mode to save RBS configurations in a format compatible with
older CarMaker releases (CarMaker versions 6.x to 8.1.1) will be removed.

Industry Standards
• CarMaker’s ADTF interface will no longer support the UDP communication interface.
• ASAM FIBEX databases of version 2.0 will no longer be supported.

CarMaker Release Notes Version 13.1

 Software Discontinuation Process 146
CarMaker 14.0

Chapter 7
Software Discontinuation Process

Maintaining the high quality of our software is important to us, which is why we are introduc-
ing a software discontinuation process. This process ensures that you will continue to
receive support for earlier versions of our software and, at the same time, allows us to drive
innovation in our products that you have come to rely on in each release.
This release-based process, which applies to the CarMaker product family, became effec-
tive with the final release of CarMaker 8.0.
Please refer to each product phase listed below for detailed information on our discontinu-
ation process.

LIVING - CarMaker product family Release 13.x

• Availability: All releases (minor and bugfix) are available for download in the client area.
• Technical support: Support by phone, e-mail or in specific cases on-site is available for
customers with an active maintenance agreement.
• Optional minor releases
• Bugfix releases and patches
• Updates for 3rd-party-interfaces

MAINTAINED - CarMaker product family Release 12.x

• Availability: Selected versions are available in the client area, other versions are avail-
able on request.
• Technical support: Support by phone, e-mail or in specific cases on-site is available for
customers with an active maintenance agreement.
• Bugfix releases and patches

SUPPORTED - CarMaker product family Release 11.x

• Availability: A selected version of the supported major release is available in the client
area, other versions are available on request.
• Technical support: Support by phone, e-mail or in specific cases on-site is available for
customers with an active maintenance agreement.
• Liable for costs/time & material: bugfix patches

CarMaker Release Notes Version 13.1

 Software Discontinuation Process 147
CarMaker 14.0

DISCONTINUED - CarMaker product family Release 10.2.3 and previous versions

• Liable for costs/time & material: Legacy support

CarMaker Release Notes Version 13.1