Here is an equation that relates the rotation of the wheel to the distance the car has traveled.
RotW = (Distance/Radius) *(180/Pi)
Note:
RotW= Rotation of the Wheel in Degrees
Distance= Distance car has traveled. Most likely will be object.tranx or object.transz
Radius= Radius of wheel. Be sure to update this if you change the scale of the wheel later.
Pi= 3.14159
Just read up on expressions. You will essentially be applying this expression to one of the rotations of the wheel.
Hope this helps,
Urp