From the US Code, at Title 1, Chapter 1, ¶4:
"(V)ehicle includes every description of carriage or other artificial contrivance used, or capable of being used, as a means of transportation on land."
In R v Baggett, 26 CCC 2 464, Justice Toy of BC's Supreme Court adopted the Shorter Oxford Dictionary definition of "means of conveyance provided with wheels or runners and used for the carriage of persons or goods; a carriage, cart, wagon, sledge, etc."
In Baggett, the accused was driving a motor vehicle which was involved in an accident with a parked bicycle.
Some jurisdictions have defined the word in their relevant statutes, such as this sample from Ontario's Highway Traffic Act:
“'Vehicle' includes a motor vehicle, trailer, traction engine, farm tractor, road-building machine, bicycle and any vehicle drawn, propelled or driven by any kind of power, including muscular power, but does not include a motorized snow vehicle or a street car".