My simple car leans INTO the turn, and leans over on two wheels.

My simple car (box collider with 4 wheel colliders) will lean over on the two inside wheels when turning. It is a rigidbody, and I have been following Flat Tutorial's car tutorial to a T.

Here is a picture of the problem:

And here is the control code (javascript)

 var wheelFL : WheelCollider;
 var wheelFR : WheelCollider;
 var wheelBL : WheelCollider;
 var wheelBR : WheelCollider;
 var wheelFLTrans : Transform;
 var wheelFRTrans : Transform;
 var wheelBLTrans : Transform;
 var wheelBRTrans : Transform;
 var highestSpeed : float = 50;
 var lowSpeedSteerAngle : float = 10;
 var highSpeedSteerAngle : float = 1;
 var decelerationSpeed : float = 10;
 var maxTorque : float = 50;
 
 function Start () {
      rigidbody.centerOfMass += Vector3(0, 0, 1.0);
 }
 
 function FixedUpdate () {
     wheelBR.motorTorque = maxTorque * Input.GetAxis("Vertical");
     wheelBL.motorTorque = maxTorque * Input.GetAxis("Vertical");
     wheelFR.motorTorque = maxTorque * Input.GetAxis("Vertical");
     wheelFL.motorTorque = maxTorque * Input.GetAxis("Vertical");
     if (Input.GetButton("Vertical") == false) {
         wheelBR.brakeTorque = decelerationSpeed;
         wheelBL.brakeTorque = decelerationSpeed;
         wheelFR.brakeTorque = decelerationSpeed;
         wheelFL.brakeTorque = decelerationSpeed;
         
     }
     else {
         wheelBR.brakeTorque = 0;
         wheelBL.brakeTorque = 0;
         wheelFR.brakeTorque = 0;
         wheelFL.brakeTorque = 0;
     }
     var speedFactor = rigidbody.velocity.magnitude/highestSpeed;
     var currentSteerAngle = Mathf.Lerp(lowSpeedSteerAngle,highSpeedSteerAngle,speedFactor);
     currentSteerAngle = Input.GetAxis("Horizontal");
     wheelFL.steerAngle = 10 * currentSteerAngle;
     wheelFR.steerAngle = 10 * currentSteerAngle;
 }