I have a car and trying to implement an AI System however when I tell the car to travel to a certain waypoint the car begins to overturn due to the drifting and makes a wave continuing to overcompensated the turn. I need to smooth out the turn. Any ideas how to make a gradual turn to a point.

Vector3 target  = waypoints[currentWaypoint].position;
 Vector3 moveDirection  = target - transform.position;       
 Vector3 localTarget = transform.InverseTransformPoint(waypoints[currentWaypoint].position);
//Calculate the angle for the car tires to travel
m_targetAngle = Mathf.Atan2(localTarget.x, localTarget.z) * Mathf.Rad2Deg;


if (currentAngle < m_targetAngle)
        {
            currentAngle = currentAngle + (Time.deltaTime * steeringSpeed);
            if (currentAngle > m_targetAngle)
            {
                currentAngle = m_targetAngle;
            }
        }
        else if (currentAngle > m_targetAngle)
        {
            currentAngle = currentAngle - (Time.deltaTime * steeringSpeed);
            if (currentAngle < m_targetAngle)
            {
                currentAngle = m_targetAngle;
            }
        }

        aiSteerAngle = Mathf.Clamp(currentAngle, (-1) * m_currentMaxSteerAngle, m_currentMaxSteerAngle);