A method of determining a trajectory estimation order for vehicles, one of the vehicles being communicatively coupled to a processor, the processor having access to information indicative of: (i) a section of a road map corresponding to surroundings of the one of the vehicles, and (ii) road rules associated with the section of the road map, the method being executable by the processor, the method comprising: • identifying, by the processor, pairs of said vehicles on the section of the road map that have intersecting potential trajectories; and • identifying, by the processor, vehicle priority information indicative of priorities of vehicles on the section of the road map, the identifying comprising: o using, by the processor, the road rules for determining which one in a respective pair of vehicles has priority over the other one in the respective pair of vehicles; o generating, by the processor, a graph structure having vertices and edges, a given edge connecting a pair of vertices (410, 412), the pair of vertices (410, 412) being indicative of the respective pair of vehicles on the section of the road map, and the given edge representing which one of a first one in the respective pair of vehicles has priority over a second one in the respective pair of vehicles; and based on the vehicle priority information, • determining, by the processor, a trajectory estimation order for vehicles on the section of the road map, such that a given vehicle having priority over another vehicle in the vehicle priority information is above another vehicle in the trajectory estimation order. (i) a section of a road map corresponding to surroundings of the one of the vehicles, and (ii) road rules associated with the section of the road map, the method being executable by the processor, the method comprising: • identifying, by the processor, pairs of said vehicles on the section of the road map that have intersecting potential trajectories; and • identifying, by the processor, vehicle priority information indicative of priorities of vehicles on the section of the road map, the identifying comprising: o using, by the processor, the road rules for determining which one in a respective pair of vehicles has priority over the other one in the respective pair of vehicles; o generating, by the processor, a graph structure having vertices and edges, a given edge connecting a pair of vertices (410, 412), the pair of vertices (410, 412) being indicative of the respective pair of vehicles on the section of the road map, and the given edge representing which one of a first one in the respective pair of vehicles has priority over a second one in the respective pair of vehicles; and based on the vehicle priority information, • determining, by the processor, a trajectory estimation order for vehicles on the section of the road map, such that a given vehicle having priority over another vehicle in the vehicle priority information is above another vehicle in the trajectory estimation order. • identifying, by the processor, pairs of said vehicles on the section of the road map that have intersecting potential trajectories; and • identifying, by the processor, vehicle priority information indicative of priorities of vehicles on the section of the road map, the identifying comprising: o using, by the processor, the road rules for determining which one in a respective pair of vehicles has priority over the other one in the respective pair of vehicles; o generating, by the processor, a graph structure having vertices and edges, a given edge connecting a pair of vertices (410, 412), the pair of vertices (410, 412) being indicative of the respective pair of vehicles on the section of the road map, and the given edge representing which one of a first one in the respective pair of vehicles has priority over a second one in the respective pair of vehicles; and based on the vehicle priority information, o using, by the processor, the road rules for determining which one in a respective pair of vehicles has priority over the other one in the respective pair of vehicles; o generating, by the processor, a graph structure having vertices and edges, a given edge connecting a pair of vertices (410, 412), the pair of vertices (410, 412) being indicative of the respective pair of vehicles on the section of the road map, and the given edge representing which one of a first one in the respective pair of vehicles has priority over a second one in the respective pair of vehicles; and a given edge connecting a pair of vertices (410, 412), the pair of vertices (410, 412) being indicative of the respective pair of vehicles on the section of the road map, and the given edge representing which one of a first one in the respective pair of vehicles has priority over a second one in the respective pair of vehicles; and • determining, by the processor, a trajectory estimation order for vehicles on the section of the road map, such that a given vehicle having priority over another vehicle in the vehicle priority information is above another vehicle in the trajectory estimation order.