Extracted from the website of Buddhist Vajrayana Charity Funds Association and translated (人天乘) into English:

Human and Deva Vehicles

‘Five Vehicles’: A Vehicle is a transportation. (Remark: Vehicle means to carry people across the sea of suffering to reach the shore of enlightenment.) There are Five Vehicles.
	Classification	Method	Achievement
1	Human Vehicle	Five Precepts	Human Realm
2	Deva Vehicle	Ten Wholesomeness (Ten Good Deeds)	Heaven Above
3	Sravaka Vehicle (Sound Hearer)	Four Noble Truths	Four Fruits of Sravaka
4	Pratyeka-Buddha Vehicle (Those enlightened to conditions)	Twelve Nidanas (twelve links doctrine of Buddhism )	Pratyeka Buddha
5	Bodhisattva Vehicle (Mahayana)	Six Paramitas	Buddhahood