Run an if-else once

EDIT! Does not work properly

Try this

flagged = 0; //global variable at the top of code

void loop()
{
  if (digitalRead(receiverIn) == HIGH)
     {
       if(!flagged)
        {
          digitalWrite(relayOut, HIGH);
          lcd.print("You may proceed");
          flagged = 1;
        }
       else
        {
          lcd.print("Please fasten your seat belt!");
          delayCarStart();
        } 
    }
  else flagged = 0;
}

Not compiled or tested but, have use simular example in other working programs.