"Drifting" game help?

Well, I decided to use hinge constraints to make the wheels of the car, but I cannot figure out how to make the wheels rotate to turn the car. I just want them to pivot 30º each way on the Z axis. Is there a constraint to do this?

Once i wanted to make same thing, so i made this hinge steering test. I realised that hinge is not the best constraint to make car physics. The problem is in the steering - after a while each wheel rotates different in z axis… even SetRot cant help it. Maybe you figure it out how to fix it.
Here is link to Hinge Steering Test .blend file