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Cool! You put me on the right track (pun intended). So I built 5 tags into each car (the first one is only used once, on the first lap to get the race under way. These were wired into a selector that cycled through each tag in turn activating it (thus preventing the player from just reversing over the line to trigger a checkpoint, and ensuring that all checkpoints are visited in turn). The selector was also wired into a counter so that each time the selector moved on to the next output, it also counted up until four checkpoints had been counted in, equalling a lap.
Had to do this for all the vehicles but it was simple enough to set up 3 lapcounters (one for each car) and then have the game won by whichever car hit 4 laps first.
The game is called "Re-Volted" (as the old Dreamcast game Re-Volt was the inspiration). At least the lapcounter works, need to tweak my car driving mechanics a bit though but it's good fun for up to 3 players at least.