You should use strtr
echo strtr($str,array_combine($a,$b));
Or Just combine $a and $b into one array
$ab = array('truck' => 'car','vehicle' => 'car','sedan' => 'var','coupe' => 'var','Toyota' => 'Lexus');
echo strtr($str, $ab);
Output
Honda is a car.
Lexus is a car.
Nissan is a car.
Scion is a car.