An SUV is a Sports Utility Vehicle. A crossover SUV is a vehicle in the style of an SUV but smaller. An upcoming model is a model which is due for imminent release. When a motor car manufacturer wants to test how an as-yet unreleased vehicle handles on public roads they will often fit different fenders/wheels/body panels to disguise the appearance = camouflaged prototypes. However, this car was seen as it will actually be sold = spotted in production-ready form.

An upcoming model is a design based on something that already exists that is due to be released. E.g. You may have a new upcoming model of the iPhone (iPhone 7). iPhone's already exist, however iPhone 7 is a new 'model' (new design) which is upcoming (coming in the future). Camouflaged means to hide something. Prototype means the 'pre-product', a trial for the product so to say. In this context it's saying that a lot of the upcoming models of cars are being subtly released into the market without consumers knowing. This essentially allows the companies to get a gist on how the public will react to certain aspects of the product before it is released. It gives the companies chance to alter certain parts of the 'upcoming model' (alter their product before release). 'People hauler' in this context means a car. To 'haul' something is to 'move' something usually with great effort. Therefore a people hauler would be something which will move people, in this context a car. This article says that the company is about to release a car called the crossover. I believe the gist the article is trying to get across is that the company has so much confidence in their product that they have skipped the prototype stage (where they have a chance to alter it) and gone straight into production. I don't know much about cars, but that's what I gathered from the article! I hope it helps.

"latest venture into the growing crossover SUV market". Venture can mean a few different things, here it means latest business activity. Venture = business activity. "Growing crossover" means more and more people are starting to buy something they never bought before. In this case it is SUV cars. In translation- "The Mazda Koeru is a car we are selling in our latest business activity to get new customers who prefer to buy SUV cars."