Unity car AI with collision avoidance, improved cornering

Cornering:
Before the car picks a new waypoint i.e. makes a turn it works out if it is a left turn.
If it is a left turn then it turns early, otherwise it turns late.
This can then be used for advanced stuff later.

Collision detection:
Now improved, casts a ray in front of the car and stops if stuff is in the way.

I put loads of cars in and most do well, the main problem is the crossroads.
Basically because they don't give way to anything, just stop if something's in front.
This is where the advanced stuff for turns can come in.