da du wirklich nur diese ID brauchst, spricht nichts dagegen den ganzen JOIN Kram zu lassen und einfach so abzufragen:
SELECT
vehicles2trips.tripid as tripid,
trips.destinationid as destinationid, //(DIESEN WERT SUCHE ICH HAUPTSÄCHLICH!)
FROM
trips, vehicles2trips
WHERE
trips.id = vehicles2trips.tripid
AND trips.starttime < /*giventime*/
AND vehicles2trips.vehicleid = /*givenvehicleid*/
ORDER BY trips.starttime DESC
/* maybe */
GROUP BY vehicles2trips.vehicleid
/* OR */
LIMIT 1