diff --git a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
index 8d9002abd515ee84eb25e023d9bf5f4d2235d092..3e02d0b65fe8ae2d5ce78945716d72ce3a0d4998 100644
--- a/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
+++ b/MantleAPI/include/MantleAPI/Traffic/entity_properties.h
@@ -20,6 +20,7 @@
 #include <MantleAPI/Common/vector.h>
 
 #include <string>
+#include <map>
 
 namespace mantle_api
 {
@@ -43,6 +44,7 @@ struct EntityProperties
     BoundingBox bounding_box{Vec3d{}, Dimension3d{}};
     EntityType type{EntityType::kOther};
     std::string model{};
+    std::map<std::string, std::string> properties;
 };
 
 inline bool operator==(const EntityProperties& lhs, const EntityProperties& rhs) noexcept
@@ -114,13 +116,52 @@ enum class ExternalControlState
     kLongitudinalOnly = 3
 };
 
+struct Performance
+{
+    // in m/s
+    double max_speed;
+    // in m/s²
+    double max_acceleration;
+    // in m/s²
+    double max_deceleration;
+};
+
+inline bool operator==(const Performance& lhs, const Performance& rhs) noexcept
+{
+    return IsEqual(lhs.max_speed, rhs.max_speed) &&
+            IsEqual(lhs.max_acceleration, rhs.max_acceleration) &&
+            IsEqual(lhs.max_deceleration, rhs.max_deceleration);
+}
+
+struct Axle
+{
+    // in radian
+    double max_steering;
+    // in m
+    double wheel_diameter;
+    // in m
+    double track_width;
+    // in m
+    Vec3d bb_center_to_axle_center;
+};
+
+inline bool operator==(const Axle& lhs, const Axle& rhs) noexcept
+{
+    return IsEqual(lhs.max_steering, rhs.max_steering) &&
+            IsEqual(lhs.wheel_diameter, rhs.wheel_diameter) &&
+            IsEqual(lhs.track_width, rhs.track_width) &&
+            lhs.bb_center_to_axle_center == rhs.bb_center_to_axle_center;
+}
+
 struct VehicleProperties : public EntityProperties
 {
     VehicleClass classification{VehicleClass::kOther};
-    Vec3d bb_center_to_front{};
-    Vec3d bb_center_to_rear{};
-    double front_wheel_diameter{0.0};
-    double rear_wheel_diameter{0.0};
+
+    Performance performance;
+
+    Axle front_axle;
+    Axle rear_axle;
+
     bool is_host{false};
     // TODO: remove, once external control for traffic is implemented through controllers
     bool is_controlled_externally{false};
@@ -129,10 +170,9 @@ struct VehicleProperties : public EntityProperties
 inline bool operator==(const VehicleProperties& lhs, const VehicleProperties& rhs) noexcept
 {
     return lhs.bounding_box == rhs.bounding_box && lhs.type == rhs.type && lhs.model == rhs.model &&
-           lhs.classification == rhs.classification && lhs.bb_center_to_front == rhs.bb_center_to_front &&
-           lhs.bb_center_to_rear == rhs.bb_center_to_rear &&
-           IsEqual(lhs.front_wheel_diameter, rhs.front_wheel_diameter) &&
-           IsEqual(lhs.rear_wheel_diameter, rhs.rear_wheel_diameter) && lhs.is_host == rhs.is_host;
+           lhs.classification == rhs.classification && lhs.performance == rhs.performance &&
+           lhs.front_axle == rhs.front_axle && lhs.rear_axle == rhs.rear_axle &&
+           lhs.is_host == rhs.is_host;
 }
 
 struct PedestrianProperties : public EntityProperties