How to make a vehicle drift properly?

Hello there, I'm having a difficult time trying to make a vehicle not to drift. It works using BodyForce and BodyAngularVelocity.

So far what I have is: A Force (F) that makes it go forward depending on the direction the vehicle is pointing at. A Centripetal Force (Fc) that makes the vehicle turn without any drift.

When the speed of the vehicle goes over 50, F = Vector3.new(0,0,0). It worked perfectly until I added the Fc. Since then, the vehicle won't stop having its speed increased while the vehicle is turning. If the vehicle is not turning, the vehicle won't accelerate.

This is my code involving Fc:

local centripetalForce = mass * Speed * angularVelocity
local centripetalVector = centripetalForce * (Vehicle.Body.CFrame.RightVector * Vector3.new(1,0,1)).unit
if Speed > maxSpeed then
    Force = 0
else
    Force = mass * Acceleration
end
Force = Force - centripetalVector.Magnitude
local Direction = (Player.HumanoidRootPart.CFrame.lookVector * Vector3.new(1,0,1)).unit
local YCoord = workspace.Gravity * mass
Vehicle.Body.BodyForce.Force = (Vector3.new(0,YCoord,0) + Direction*Force) + (centripetalVector)

There are no problems involving how the other variables were computed. Thank you so much for helping!