it is very difficult to be honest, F5.6 isn't quick enough and won't let in enough light, ideally you'd be looking to use a lens with an aperture of F2.8 or lower, but theses are very expensive. You could try a prime lens either a 1.8 or 1.4 35/50mm but then you'll have to move about a lot to get decent shots in frame, not having any zoom.
try messing about in manual mode, turn your shutter speed up as far as you can, and use the flash. It is difficult to pan and shoot with low light indoors, especially when the cars are going so fast. Also make sure your ISO is at least 1600 or higher if your camera will allow.
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