In this paper, we develop a predictive beamforming scheme based on the dual-functional radar-communication (DFRC) technique, where the road-side units estimates the motion parameters of vehicles exploiting the echoes of the DFRC signals. Compared to the conventional feedback-based beam tracking approaches, the proposed method can reduce the signaling overhead and improve the tracking performance. A novel message passing algorithm is proposed, which yields a near optimal performance achieved by the maximum a posteriori estimation. Simulation results have shown the effectiveness of the proposed DFRC based scheme.