Systems and method are provided for controlling a vehicle. In one embodiment, a vehicle dimension prediction method includes producing a set of simulated observed dimensions based a 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. The method further includes acquiring sensor data associated with a first vehicle observed by a sensor system of an autonomous vehicle, determining observed dimensions of the first vehicle based on the acquired sensor data, and determining, with a processor, predicted actual dimensions of the first vehicle by applying the plurality of observed dimensions to the machine learning model.