The Doppler effect is produced when a wave emitting source moves relative to the observer. If it is near the shorter wavelength (increasing frequency) and if you move, the wavelength increases (frequency decreases).
With the sound waves we can readily appreciate, the sound of an approaching vehicle is sharper than we perceive it departs.
To understand a little more (animation of David Harrison) :
When the source velocity exceeds the speed of propagation of the wave is produced when the phenomenon of shock waves already discussed here.
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