@tapansharma2,
Let
the distance between sound waves be D,
the speed of sound be s,
the speed of the moving vehicle v,
the time taken between waves to the stationary car T,
and the time taken to the moving car t.
Then imagining the sound waves were stationary and the cars moving between them, the distance will remain constant.
So
D=sT
[FOR THE "STATIONARY" CAR] =(s+v)t
[FOR THE "MOVING" CAR]
Whence v=s (T-t)/t