The five vehicles is a complete education system of Buddhism whose fundamental essence is Yogācāra Middle Way of Mahāyāna Buddhism. For the sentient beings who have the Mahāyāna endowment, they usually start from human and deva vehicles to accumulate blessings, reduce or eliminate the greed for wealth, sex, reputation, food and sleep. Thereafter, they practice vipassanā of the emptiness of five skandhas and eighteen spheres according to the doctrine of śrāvaka and pratyekabuddha, to eliminate the self-view and egocentrism, obtain the initial achievement (the stage of śrota-āpanna) level, the second "once returner" (sakrdāgāmin) and the "non-returner" of śrāvaka; and then turn to study Mahāyāna to explore the true mind, the eighth conciousness on the basis of emptiness of the five skandhas and the eighteen spheres, and then further practice through the path of seeing (darśana-mārga) and the practice stage, eventually achieve the supreme stage (that of buddhahood). The education sequence of the five vehicles has its principle, however in practice, there are a variety of education means due to the difference of the sentient beings.