• Left arrow - (Menu left, steer left)
  
• Right arrow - (Menu right, steer right)
  
• Up arrow - (Menu up, lower car when in Atlantis)
  
• Down arrow - (Menu down, raise car when in Atlantis)
  
• Enter - (Start, pause game)
  
• Z - (Accelerate)
  
• S - (Brake/Reverse)
  
• Q - (Special ability)
  
• A - (Menu cancel)

• Directional up - (Up arrow)
  
• Directional down - (Down arrow)
  
• Directional left - (Left arrow)
  
• Directional right - (Right arrow)
  
• Cross - (Z)
  
• Circle - (X)
  
• Square - (S)
  
• Triangle - (A)
  
• Enter - (Start)
  
• Select - (Spacebar)
  
• L1 - (Q)
  
• L2 - (W)
  
• R1 - (E)
  
• R2 - (R)

The raise/lower car buttons are reversed in the manual. The Q/W/E/R buttons all do the same thing, so use whichever of them is the most convenient to reach when you want to use the special ability. The Select/Spacebar control doesn't seem to do anything.