ORA-02291: integrity constraint

I keep getting this error message but the error is on the table name, which is what I don't understand.

ERROR at line 1:
ORA-02291: integrity constraint (BKNILL.SYS_C007098) violated - parent key not
found

SQL> describe vehicle;

 Name                            Null?    Type
 ------------------------------- -------- ----
 VEH_REG                         NOT NULL VARCHAR2(9)
 VEH_CODE                                 VARCHAR2(5)
 VEH_RATE                                 NUMBER(10,2)

SQL> INSERT INTO VEHICLE (Veh_reg,veh_code,veh_rate) values
('&Vehicle_registrat

ion_number','&Model_code',&Daily_rate);
Enter value for vehicle_registration_number: W345 YRR Enter value for model_code: PE406
Enter value for daily_rate: 20.00
old 1: INSERT INTO VEHICLE (Veh_reg,veh_code,veh_rate) values
('&Vehicle_regis

tration_number','&Model_code',&Daily_rate) new 1: INSERT INTO VEHICLE (Veh_reg,veh_code,veh_rate) values ('W345 YRR','PE4
06',20.00)
INSERT INTO VEHICLE (Veh_reg,veh_code,veh_rate) values ('W345 YRR','PE406',20.00
)

            *
ERROR at line 1:
ORA-02291: integrity constraint (BKNILL.SYS_C007098) violated - parent key not
found

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