The preceding vehicle selection device includes a processor configured to estimate a continuous running distance from a present time of a surrounding vehicle based on information relating to the surrounding vehicle for each of a plurality of surrounding vehicles, estimate a followable distance when the host vehicle follows the surrounding vehicle based on the continuous running distance from the present time of the surrounding vehicle for each of the plurality of surrounding vehicles, and select the preceding vehicle from among the plurality of surrounding vehicles based on the followable distance. The information relating to the surrounding vehicle includes at least one of an SOC or an amount of remaining fuel of the surrounding vehicle, and a continuous running time or a continuous running distance up to the present time of the surrounding vehicle.