The wheel groups had to be sorted correctly. I had to create three different groups for each wheel, all with centered pivot points. The groups are as follows: The main wheel group (F_Left_Wheel_Grp) was inside the rotation group (F_Left_Wheel_Grp) which was inside the suspension group (F_Left_Wheel_Sus_Grp). With these groups created I started making the controllers to control these. The controllers made to rotate the wheels on the X axis and to move the suspension on the Y axis were circles created using NURBS. The controller used to steer the wheels (the rotation group) was a two direction arrow also made with NURBS and then curved into an appropriate angle using the EP curve tool. I then parented the different controllers to the appropriate groups using constrains. This meant that when I moved the different controllers, I could control the wheels on the car. I also colour coded the controllers (Green in case) and set limits on them in the attribute editor so I couldn't break the model accidentally.
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