Steering Overcompesation

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);