Physic 2, side 2d car game, bit obstacles

I’m trying to create a 2d side racing game where a car should bit the obstacles.
When the car run into a wall it stops moving.
But it should get out on the obstacle to overcome it.

I don’t know how to implement this part. Is it possible to make wheel stick to the wall? But adding friction does not help.
Should I add some gravity to the obstacles?