You control the car by using up, down, left and right keys only. If you want to check out the config for other things then launch the game > Profile > Advanced settings > Configure driving inputs.
There's also a game manual in the game folder named "TMN manual.pdf".
The camera views can be changed from keypad/numpad and the keys are 1, 2, 3 and 7 (x = disable/enable HUD). By pressing 7 you get to control the free cam with 4/5/6/8 keys and the mouse (press and hold right button) and mouse wheel controls the FOV (Field Of View) which works as a zoom function too.