AI create path, help.

Ok so I gave up the navmesh/agent way of doing AI for my vehicles. Its not going to work because of many reasons not just it being too stupid, so I am making my own. My game WIP: http://forum.unity3d.com/threads/200629-Omega-Void-WIP

What I need now is for my car to reorient itself left or right in the general direction of the target... Or turn around completely(but that is not needed yet).

I got it to stop and reverse so far but need it either to pick right or left depending on the direction of the target.

Here I am using 3 rays to detect whats in front and then stop. Shaped like spread out fork or three fingers pointing out at the front.

How would I make it choose to turn left(or right) and move forward until the rays are not hitting?

Code:

 target = waypointHolder.transform;
             
             Vector3 relativeWaypointPos = transform.InverseTransformPoint( new Vector3(wayPoints[currentWaypoint].position.x, transform.position.y,wayPoints[currentWaypoint].position.z));
     
             
             
     //        Vector3 targetDir = target.position - transform.position;
             
             targetDistance = Vector3.Distance(transform.position, target.transform.position);
             
             Vector3 chassisLook = chassis.TransformDirection(new Vector3(0, -navSeeDistance, 0));
             Vector3 left = chassis.TransformDirection(new Vector3(-navSeeLeftDist, -19, 0));
             Vector3 right = chassis.TransformDirection(new Vector3(navSeeRightDist, -19, 0));
             
            
             RaycastHit chit;
             
             
     
             Debug.DrawRay(chassis.position, chassisLook, Color.white);    
             Debug.DrawRay(chassis.position, left, Color.white);    
             Debug.DrawRay(chassis.position, right, Color.white);    
     
             //Raycasting
              if(Physics.Raycast(transform.position, chassisLook, out chit, navSeeDistance)){
                                     
     
                 
              if(chit.transform.gameObject.layer == LayerUnpassable01){
                     
                 
               pathBlocked = true;        
                     
               inputBrake = true;
               inputTorque = -100.0f;    
               
                     if(rigb.velocity.sqrMagnitude <= 20.0f){
                         
                         inputTorque =  0.0f;
                         
                     }
                 }
                 
             }else{
                     
     //            pathBlocked = false;
                 
         
             }
             
             
             
             //
         //This is where the car steers and AI inputs speed/torque in order to get to target.    
             if(pathBlocked == false){
             
             inputSteer = relativeWaypointPos.x / relativeWaypointPos.magnitude;
             
             
             if(Mathf.Abs(inputSteer)<0.5)
                 inputTorque = relativeWaypointPos.z / relativeWaypointPos.magnitude - Mathf.Abs(inputSteer);
             else
             inputTorque = 0.0f;