It isn't completely clear from your question but I think you mean the following bit of code only echoes one value:
if($_POST['submit']){
echo $vehicles;
}
To turn your selected cars into an array you need to add []
onto the end of the name:
<select multiple="multiple" name="cars[]">
Then to echo
each of the selections you can use a foreach
loop:
foreach ($_POST['cars'] as $car)
echo $car.'<br />';