How do I make an object look at a point it is moving toward?

I have this driving game and I want to put other cars autonomously driving around on the roads. I have another car and it moves towards waypoints and that works fine, but I cant get it to face the waypoints it is traveling toward. Can anyone help? This is the code I have so far. What changes should I make?

// array to hold waypoint locations
var waypoints : Transform;

// variable to control time taken to travel between points
var duration : float = 1.0;

private var startPoint : Vector3;
private var endPoint : Vector3;
private var startTime : float;

// the array index number of the current target waypoint
private var targetwaypoint : int;

function Start() {

startPoint = transform.position;
startTime = Time.time;

if(waypoints.Length <= 0){
    Debug.Log("No waypoints found");
    enabled = false;
}

targetwaypoint = 0;
endPoint = waypoints[targetwaypoint].position;

}

function Update () {

var i = (Time.time - startTime) / duration;
transform.position = Vector3.Lerp(startPoint, endPoint, i);



if(i >= 1){

    startTime = Time.time;

    // increment and wrap the target waypoint index
    targetwaypoint++;
    targetwaypoint = targetwaypoint % waypoints.Length;

    // assign the new lerp waypoints
    startPoint = endPoint;
    endPoint = waypoints[targetwaypoint].position;
       

}

}

LookAt()?