TLDR: It's better to consider the recommendation of the authors of the framework and use model field names.
Database Representation
Behind the scenes, Django appends "_id" to the field name to create its database column name. In the above example, the database table for the Car model will have a manufacturer_id column. (You can change this explicitly by specifying db_column) However, your code should never have to deal with the database column name, unless you write custom SQL. You’ll always deal with the field names of your model object. Reference
Model fields subclass django.db.models.fields.Field. The Field class has an attname field which is documented internally in the source code as the way to resolve the attribute to use on the model object.
# A guide to Field parameters:
#
# * name: The name of the field specified in the model.
# * attname: The attribute to use on the model object. This is the same as
# "name", except in the case of ForeignKeys, where "_id" is
# appended.
# * db_column: The db_column specified in the model (or None).
# * column: The database column for this field. This is the same as
# "attname", except if db_column is specified.
#
# Code that introspects values, or does other dynamic things, should use
# attname. For example, this gets the primary key value of object "obj":
#
# getattr(obj, opts.pk.attname)
As part of the execution flow to converting the QuerySet.filter names in the kwargs for the compiled SQL query, the names are translated to PathInfo tuples containing the model fields for the respective names.
On Line 1354 for django.db.models.sql.query.Query, is the following line:
field = opts.get_field(name)
Now opts is an instance of django.db.models.options.Options and the get_field method delegates to _forward_fields_map or fields_map cached properties.
When you look at the implementation of those two properties, you see that they return a dictionary mapping field.name to field together with field.attname to field.
This makes it so that modelb_id or modelb resolves to the model field from either of the cached properties.
In my opinion, it doesn't matter that modelb_id or modelb is passed as a keyword argument to QuerySet.filter. Only that the former keyword requires knowledge of an implementation detail.
However it's better to consider the recommendation of the authors of the framework and use the model field names.