If your Delete toolbar button and menu option are grayed out, the vehicle must be involved in one or more events in your case file.  Go to the Event Editor and find the event that is using the unwanted vehicle. If you delete this event, you will be able to go back to the Vehicle Editor and delete the vehicle as expected. Note that the same issue can happen in the Playback Editor: You cannot delete an event that is used in a report in the Playback Editor.