说明：  七自由度车辆模型，给车辆输入车轮制动驱动转矩，获得车辆状态。用来学习车辆模型，理解车辆动力学很有用。
(Seven degrees of freedom vehicle model, to the vehicle input wheel brake drive torque, to obtain the vehicle state to learn the vehicle model, understanding the vehicle dynamics is very useful)