You are not looking for collection field-types but entity field-types with a queryBuilder if you are trying to build a form like the one on your image.
With the entity field-type you can group your attributes by i.e. car.category.
... or you can use two entity fields and filter the results ( i.e. only showing attributes for category gas ) for the other selectbox in the field's queryBuilder. Best achieved by using an injected category property in your form builder being used in the queryBuilder's ->where() statement.
The collection form-type would be needed if you wanted to add/remove/edit multiple new categories or attributes to existing ones. but then your form would look different obviously.