1. A vehicle dimension prediction method comprising: providing a set of known vehicle dimensions; producing a set of simulated observed dimensions based the set of known vehicle dimensions and; training a machine learning module based on the set of simulated observed dimensions and the set of known vehicle dimensions; acquiring sensor data associated with a first vehicle observed by a sensor system of an autonomous vehicle; determining a plurality of observed dimensions of the first vehicle based on the acquired sensor data; determining, with a processor, a plurality of predicted actual dimensions of the first vehicle by applying the plurality of observed dimensions to the machine learning model.