Condition Based Options

New to forms and I've been trhough the forums tyring to find the answer to my questions so apologies if this is redundant.

I have a form that looks similar to the attached.  The way we need the form to work is as follows:

- A client needs to be able to select options from 1 of the 3 catagories (Rent a Vehicle, Bringing my own, No Vehicle needed).  Once one of those is selected, the client must only be able to select one from the 3 options under it and not be able to select options under the other categories.

I hope someone can assist! Thanks!