The challenge is to get passengers in other vehicles or pedestrians along the route to wave back! You can do anything you want to encourage your target to wave, from pleading to pulling faces. The winner is the one who receives the most waves.
A variation is when the kids alternate in having a go, with a 1-minute time limit to achieve success. We sometimes add the rule whereby kid 1 can specify a ‘grumpy’ target for kid 2. Kid 1 gains two points if Kid 2 fails but Kid 2 gets 10 points if they succeed!