diff --git a/dist/cannon-es.cjs.js b/dist/cannon-es.cjs.js
index fb720115a..d874006d1 100644
--- a/dist/cannon-es.cjs.js
+++ b/dist/cannon-es.cjs.js
@@ -6631,6 +6631,8 @@ class WheelInfo {
       dampingCompression: 10,
       dampingRelaxation: 10,
       frictionSlip: 10000,
+      forwardAcceleration: 1,
+      sideAcceleration: 1,
       steering: 0,
       rotation: 0,
       deltaRotation: 0,
@@ -6664,6 +6666,8 @@ class WheelInfo {
     this.dampingCompression = options.dampingCompression;
     this.dampingRelaxation = options.dampingRelaxation;
     this.frictionSlip = options.frictionSlip;
+    this.forwardAcceleration = options.forwardAcceleration;
+    this.sideAcceleration = options.sideAcceleration;
     this.steering = 0;
     this.rotation = 0;
     this.deltaRotation = 0;
@@ -7157,8 +7161,8 @@ class RaycastVehicle {
         const maximpSquared = maximp * maximpSide;
         wheel.forwardImpulse = rollingFriction; //wheelInfo.engineForce* timeStep;
 
-        const x = wheel.forwardImpulse * fwdFactor;
-        const y = wheel.sideImpulse * sideFactor;
+        const x = wheel.forwardImpulse * fwdFactor / wheel.forwardAcceleration;
+        const y = wheel.sideImpulse * sideFactor / wheel.sideAcceleration;
         const impulseSquared = x * x + y * y;
         wheel.sliding = false;
 
diff --git a/dist/cannon-es.d.ts b/dist/cannon-es.d.ts
index b32034681..381bccf80 100644
--- a/dist/cannon-es.d.ts
+++ b/dist/cannon-es.d.ts
@@ -1343,6 +1343,8 @@ declare module "objects/WheelInfo" {
         dampingCompression?: number;
         dampingRelaxation?: number;
         frictionSlip?: number;
+        forwardAcceleration?: number;
+        sideAcceleration?: number;
         steering?: number;
         rotation?: number;
         deltaRotation?: number;
@@ -1382,6 +1384,8 @@ declare module "objects/WheelInfo" {
         dampingCompression: number;
         dampingRelaxation: number;
         frictionSlip: number;
+        forwardAcceleration: number;
+        sideAcceleration: number;
         steering: number;
         rotation: number;
         deltaRotation: number;
diff --git a/dist/cannon-es.js b/dist/cannon-es.js
index 1956060ab..2bd644409 100644
--- a/dist/cannon-es.js
+++ b/dist/cannon-es.js
@@ -6627,6 +6627,8 @@ class WheelInfo {
       dampingCompression: 10,
       dampingRelaxation: 10,
       frictionSlip: 10000,
+      forwardAcceleration: 1,
+      sideAcceleration: 1,
       steering: 0,
       rotation: 0,
       deltaRotation: 0,
@@ -6660,6 +6662,8 @@ class WheelInfo {
     this.dampingCompression = options.dampingCompression;
     this.dampingRelaxation = options.dampingRelaxation;
     this.frictionSlip = options.frictionSlip;
+    this.forwardAcceleration = options.forwardAcceleration;
+    this.sideAcceleration = options.sideAcceleration;
     this.steering = 0;
     this.rotation = 0;
     this.deltaRotation = 0;
@@ -7153,8 +7157,8 @@ class RaycastVehicle {
         const maximpSquared = maximp * maximpSide;
         wheel.forwardImpulse = rollingFriction; //wheelInfo.engineForce* timeStep;
 
-        const x = wheel.forwardImpulse * fwdFactor;
-        const y = wheel.sideImpulse * sideFactor;
+        const x = wheel.forwardImpulse * fwdFactor / wheel.forwardAcceleration;
+        const y = wheel.sideImpulse * sideFactor / wheel.sideAcceleration;
         const impulseSquared = x * x + y * y;
         wheel.sliding = false;
 
diff --git a/examples/raycast_vehicle.html b/examples/raycast_vehicle.html
index 78922b47d..bfaf60936 100644
--- a/examples/raycast_vehicle.html
+++ b/examples/raycast_vehicle.html
@@ -34,7 +34,7 @@
           directionLocal: new CANNON.Vec3(0, -1, 0),
           suspensionStiffness: 30,
           suspensionRestLength: 0.3,
-          frictionSlip: 5,
+          frictionSlip: 1.4,
           dampingRelaxation: 2.3,
           dampingCompression: 4.4,
           maxSuspensionForce: 100000,
diff --git a/src/objects/RaycastVehicle.ts b/src/objects/RaycastVehicle.ts
index 4af20ccc5..e3f2f6f7c 100644
--- a/src/objects/RaycastVehicle.ts
+++ b/src/objects/RaycastVehicle.ts
@@ -504,8 +504,8 @@ export class RaycastVehicle {
 
         wheel.forwardImpulse = rollingFriction //wheelInfo.engineForce* timeStep;
 
-        const x = wheel.forwardImpulse * fwdFactor
-        const y = wheel.sideImpulse * sideFactor
+        const x = wheel.forwardImpulse * fwdFactor / wheel.forwardAcceleration
+        const y = wheel.sideImpulse * sideFactor / wheel.sideAcceleration
 
         const impulseSquared = x * x + y * y
 
diff --git a/src/objects/WheelInfo.ts b/src/objects/WheelInfo.ts
index 0048738b8..9edc5a94f 100644
--- a/src/objects/WheelInfo.ts
+++ b/src/objects/WheelInfo.ts
@@ -18,6 +18,8 @@ export type WheelInfoOptions = {
   dampingCompression?: number
   dampingRelaxation?: number
   frictionSlip?: number
+  forwardAcceleration?: number
+  sideAcceleration?: number
   steering?: number
   rotation?: number
   deltaRotation?: number
@@ -93,6 +95,8 @@ export class WheelInfo {
   dampingCompression: number
   dampingRelaxation: number
   frictionSlip: number
+  forwardAcceleration: number
+  sideAcceleration: number
   steering: number
   rotation: number // Rotation value, in radians.
   deltaRotation: number
@@ -128,6 +132,8 @@ export class WheelInfo {
       dampingCompression: 10,
       dampingRelaxation: 10,
       frictionSlip: 10000,
+      forwardAcceleration: 1,
+      sideAcceleration: 1,
       steering: 0,
       rotation: 0,
       deltaRotation: 0,
@@ -162,6 +168,8 @@ export class WheelInfo {
     this.dampingCompression = options.dampingCompression!
     this.dampingRelaxation = options.dampingRelaxation!
     this.frictionSlip = options.frictionSlip!
+    this.forwardAcceleration = options.forwardAcceleration!
+    this.sideAcceleration = options.sideAcceleration!
     this.steering = 0
     this.rotation = 0
     this.deltaRotation = 0