1. set the yum repository.

[root@localhost ~]# wget -P /etc/yum.repos.d http://download.virtualbox.org/virtualbox/rpm/el/virtualbox.repo
--2017-02-14 11:40:21--  http://download.virtualbox.org/virtualbox/rpm/el/virtualbox.repo
正在解析主机 download.virtualbox.org (download.virtualbox.org)... 65.200.22.33, 65.200.22.48
正在连接 download.virtualbox.org (download.virtualbox.org)|65.200.22.33|:80... 已连接。
已发出 HTTP 请求，正在等待回应... 200 OK
长度：259 [text/plain]
正在保存至: “/etc/yum.repos.d/virtualbox.repo”100%[=========================================================================================================================================================================>] 259         --.-K/s 用时 0s      2017-02-14 11:40:22 (32.0 MB/s) - 已保存 “/etc/yum.repos.d/virtualbox.repo” [259/259])

2. search the available version of VirtualBox

[root@localhost ~]# yum search VirtualBox
已加载插件：fastestmirror, langpacks
Loading mirror speeds from cached hostfile* base: mirrors.btte.net* elrepo: mirrors.tuna.tsinghua.edu.cn* extras: mirrors.btte.net* updates: mirrors.btte.net
============================================================================================= N/S matched: VirtualBox =============================================================================================
VirtualBox-4.3.x86_64 : Oracle VM VirtualBox
VirtualBox-5.0.x86_64 : Oracle VM VirtualBox
VirtualBox-5.1.x86_64 : Oracle VM VirtualBox

3. install the specific version.

[root@localhost ~]# yum install VirtualBox-5.1
已加载插件：fastestmirror, langpacks
Loading mirror speeds from cached hostfile* base: mirrors.btte.net* elrepo: mirrors.tuna.tsinghua.edu.cn* extras: mirrors.btte.net* updates: mirrors.btte.net
正在解决依赖关系
--> 正在检查事务
---> 软件包 VirtualBox-5.1.x86_64.0.5.1.14_112924_el7-1 将被 安装
--> 正在处理依赖关系 libSDL-1.2.so.0()(64bit)，它被软件包 VirtualBox-5.1-5.1.14_112924_el7-1.x86_64 需要
--> 正在检查事务
---> 软件包 SDL.x86_64.0.1.2.15-14.el7 将被 安装
--> 解决依赖关系完成依赖关系解决===================================================================================================================================================================================================================Package                                             架构                                        版本                                                        源                                               大小
===================================================================================================================================================================================================================
正在安装:VirtualBox-5.1                                      x86_64                                      5.1.14_112924_el7-1                                         virtualbox                                       75 M
为依赖而安装:SDL                                                 x86_64                                      1.2.15-14.el7                                               base                                            204 k事务概要
===================================================================================================================================================================================================================
安装  1 软件包 (+1 依赖软件包)总下载量：75 M
安装大小：168 M
Is this ok [y/d/N]: y

run config procedure, there will be message if there are errors.

[root@localhost ~]# /sbin/vboxconfig
vboxdrv.sh: Building VirtualBox kernel modules.
This system is not currently set up to build kernel modules (system extensions).
Running the following commands should set the system up correctly:yum install kernel-devel-3.10.0-327.36.2.el7.x86_64
(The last command may fail if your system is not fully updated.)yum install kernel-devel
vboxdrv.sh: failed: Look at /var/log/vbox-install.log to find out what went wrong.
This system is not currently set up to build kernel modules (system extensions).
Running the following commands should set the system up correctly:yum install kernel-devel-3.10.0-327.36.2.el7.x86_64
(The last command may fail if your system is not fully updated.)yum install kernel-develThere were problems setting up VirtualBox.  To re-start the set-up process, run/sbin/vboxconfig
as root.

install kernel

 yum install kernel-devel