A huge amount of energy exits the car via the tailpipe, and it makes sense to try waste heat recovery. Honda tried the heat engine approach too:
Green Car Congress: Honda Researching Advanced Hybrid Drive with Rankine Cycle Co-Generation.
When attached to the 150HP engine in the Honda Stream mini-minivan:
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Maximum power available from the volumetric expander is as much as 32kW (43hp), and maximum thermal efficiency of the unit is 13% at 23kW (30hp). In comments following the presentation, Yamamoto indicated that Honda would need to see higher efficiencies achieved with the system if it is going to be considered for production.
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Waste heat recovery systems might pay for themselves on heavy duty and stationary engines, but even Honda, who are obsessed with fuel economy, think the benefits of this waste heat system are outweighed by the cost, weight penalty, and complexity.