Rotation of wheels of a car

what is wanted to do is to rotate wheels of my car but tiers are rotating round my car as you can see in picture. the Script i am using is written below

    using UnityEngine;
    using System.Collections;

 public class CarController : MonoBehaviour {
     public WheelCollider TireFR;
     public WheelCollider TireFL;
     public WheelCollider TireRR;
     public WheelCollider TireRL;
     public float MaxSpeed = 100;
     public float angle = 10;
     public Transform CenterOfGravity;
     public Transform TireTransformFR;
     public Transform TireTransformFL;
     public Transform TireTransformRR;
     public Transform TireTransformRL;

     Rigidbody rb;

     public void ApplyLocalPositionToVisuals(WheelCollider collider)
     {
         if (collider.transform.childCount == 0)
         {
             return;
         }
 
         Transform visualWheel = collider.transform.GetChild(0);

         Vector3 position;
         Quaternion rotation;
         collider.GetWorldPose(out position, out rotation);

         visualWheel.transform.position = position;
         visualWheel.transform.rotation = rotation;
     }


     // Use this for initialization
     void Start () {
         rb = GetComponent<Rigidbody>();
         rb.centerOfMass = CenterOfGravity.localPosition;

                 }

     void Update()
     {
         TireTransformFL.Rotate ( TireFL.rpm / 60 * 360 * Time.deltaTime, 0, 0);
         TireTransformFR.Rotate ( TireFR.rpm / 60 * 360 * Time.deltaTime,0,0);
         TireTransformRL.Rotate ( TireRL.rpm / 60 * 360 * Time.deltaTime, 0, 0);
         TireTransformRR.Rotate ( TireRR.rpm / 60 * 360 * Time.deltaTime, 0, 0); 

     }
 
                         // Update is called once per frame
     void FixedUpdate () { 

         TireRR.motorTorque = MaxSpeed * Input.GetAxis("Vertical");
         TireRL.motorTorque = MaxSpeed * Input.GetAxis("Vertical");
         TireFL.steerAngle = angle * Input.GetAxis("Horizontal");
         TireFR.steerAngle = angle * Input.GetAxis("Horizontal");
         ApplyLocalPositionToVisuals(TireFL);
         ApplyLocalPositionToVisuals(TireFR);
         ApplyLocalPositionToVisuals(TireRL);
         ApplyLocalPositionToVisuals(TireRR);
     }
  }