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Rallycross simulates the type of driving done in performance rallies but is essentially autocross on dirt or grass with autocross-style safety parameters. It is done in cars usually classed as FWD, RWD or AWD and whether prepared or not. Usually a driver may do several consecutive laps, each separately timed, and hitting a pylon adds time penalties. Sometimes a worst lap may be thrown out. Some events may offer a driver two sequences of laps. Helmets are required, and generally only closed (hardtop) cars are permitted. Two or more drivers may share a car. There is an annual national championship event which is held at various sites which have included Heartland Motorsports Park, Topeka, KS; Pikes Peak International Raceway, Fountain, CO, and the National Balloon Classic Field in Indianaola, IA.