To provide a preceding vehicle selection device for accurately selecting a preceding vehicle regardless of the shape or the like of a lane marking ahead of a vehicle.

A preceding vehicle position storage means 17 successively receives preceding vehicle absolute position information D16 output from a preceding vehicle position calculation means 16, and stores it as preceding vehicle position history information D17 indicating past preceding vehicle position history for a retrospective predetermined period. A preceding vehicle selection means 18 performs preceding vehicle selection processing by comparing a current absolute position coordinate of the vehicle indicated by vehicle absolute position information D14 output by a vehicle position measuring means D14 with each preceding vehicle absolute position of at least one preceding vehicle, which shows a series of past histories for the retrospective predetermined period indicated by the preceding vehicle position history information D17, and outputs preceding vehicle information D18 indicating the relative position or the like of a preceding vehicle selected based on the comparison result.