Captioning has attracted much attention in image and video understanding while a small amount of work examines audio captioning. This paper contributes a Mandarin-annotated dataset for audio captioning within a car scene. A sentence-level loss is proposed to be used in tandem with a GRU encoder-decoder model to generate captions with higher semantic similarity to human annotations. We evaluate the model on the newly-proposed Car dataset, a previously published Mandarin Hospital dataset and the Joint dataset, indicating its generalization capability across different scenes. An improvement in all metrics can be observed, including classical natural language generation (NLG) metrics, sentence richness and human evaluation ratings. However, though detailed audio captions can now be automatically generated, human annotations still outperform model captions on many aspects.