We propose a novel method to estimate operation characteristics of the following driver. If the lead vehicle suddenly decelerates to avoid collisions with interrupting vehicles, it may lead to an accident with the following vehicle since human drivers require a reaction time. This research assumes a driving scene when a human driver follows the autonomous vehicle. The proposed method estimates operation characteristics of the following driver and predicts the trajectory of the following vehicle. It is demonstrated that the proposed method shows great accuracy of the prediction compared to previous methods.