说明：   dugoff轮胎模型 输出量：纵向力(N),侧向力(N)； 输入量：轮胎垂向载荷(N),轮胎滑转率,轮胎侧偏角(rad),轮胎纵向附着系数,轮胎纵向刚度(N/rad),轮胎侧向刚度(N/rad)
( Dugoff tire model Output: longitudinal force (N), lateral forces (N) Input: vertical tire load (N), the tire slip rate, the tire slip angle (rad), longitudinal tire adhesion coefficient, tire longitudinal stiffness (N/rad), the tire lateral stiffness (N/rad))