Distance is the primary factor of earning points. Passing cars will also earn you set amounts of points as well. Because this is a port of the arcade game, you'll want to go as fast as possible while also not crashing into too many cars (or even crashing off the road). Also each of the goals determines how difficult of a path it takes to reach them (Goal A is the most difficult, while Goal E is the easiest). I'd say by Stage 3 you should be roughly hitting the 5 million mark if you have a really good run. You're very close to it, so I'm sure you'll get it!