Those games are often called Car Games.
Yet the "racing" concept may be more generic and not always involves Cars.
Pseudo 3D effects
car games often display some kind of horizon, with the road scrolling from it.
Of course such game engine is not 3D generated, and tricks are to be used.
Non scrolling race games
Some games are just one fixed screen in above view or pseudo-isometric view.
The aim it also to be the first.
Some "shoot them ups" may actually use the fake 3D effect from the typical Car game, or those may include shoot them up's concepts.
- Space Harrier.
- Fire and forget