This paper presents an ecological (eco) driving system based on prediction of the preceding vehicle using model predictive control. At any measured road-traffic states it computes the optimal vehicle control input using the models of the vehicle dynamics and fuel consumption. The prediction model the preceding vehicle is formulated based on experimentally obtained driving data. The proposed system is evaluated for driving on urban roads containing traffic control signals at the intersections using the microscopic transport simulator AIMSUN. Significant improvement in fuel efficiency by introducing the model of the preceding vehicle has been confirmed from the simulation results.