Get_Terms of Taxonomy and Taxonomy Term

On a page of a custom taxonomy term, I want to list which terms it coincides with. Specifically, I have a taxonomy of vehicle models and want to list all the products categories that exist for that model.
When I use: $queried_obj = get_queried_object();, I am able to get the taxonomy term of the current page successfully.
Is there a way to say get_terms with an array of a taxonomy and taxonomy term?
ie:

$taxonomies = array(
	'vehicle_models'       => $cur_term_id,
	'vehicle_categories',
	);
	$cat_args = array( blah, blah );
$cur_cats = get_terms( $taxonomies, $cat_args );

Or should it be by a query? But that only is going to list the posts of those, I just need a list of the terms.

What is the best way? Please help.