When it's in the distance, a car coming at you will appear to move slowly. But when it reaches you, the car is a blur of speed.
The same effect applies to balls hit straight at you on the tennis court. You aren't able to gauge their speed as easily as shots that come to you at an angle. As a result, you often make late contact with the ball.
What's the problem? Poor preparation, most likely. Unlike balls directed crosscourt, shots hit right at you don't move laterally against a fixed background. Without the visual reference guide, their velocities can be very deceptive – like the cars coming at you on the highway.
You can cope with deceptive ball speeds by making sure to prepare your racquet early. That way, you should be able to make contact out in front of your body and drive the ball solidly across the net.