It’s called the doppler effect.
Sound is waves or vibrations in the air; closer together waves make higher pitched sound, further apart waves make lower pitch. If the source of the sound is moving towards you the waves are squeezed even closer together and the pitch gets higher, if the source is moving away the waves spread out more and the pitch gets lower.
Aside from hearing this with cars blasting music, it’s also very noticeable when an emergency vehicle with a siren passes by.
It even works with light in space; if a star or other light emitting object is moving away from earth its light will get a bit redder (lower frequency), if it’s moving towards earth its light will get a bit bluer (higher frequency).
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