Tracking accuracy plays a critical role in V2V (vehicle-to-vehicle communications) based active safety applications. This paper proposed a beacon rate control algorithm to reduce the tracking error. By analyzing the vehicle trajectory tracking process, it is found that the tracking error is proportional to the moving status of a vehicle, as well as the data delay. Due to the constraint of the wireless communication capacity, the data delay for all the nodes can't be shortened infinitely. The principle of the algorithm design is to shorten the data delay by increasing the beacon rate for vehicles with higher dynamics, due to the reason that these vehicles are prone to cause larger tracking error with the same data delay. Simulation results show that by using the proposed algorithm, the beacon rate of the subject vehicle can adapt to the vehicle dynamics, thus in this way, the tracking error is controlled at a decimeter level.