For the traffic oversaturation situation, it proposed a method to estimate the cycle initial queue length and maximum queue length based on the traffic shock wave by using the information of vehicle trajectory data such as vehicle arrival and parking location. Based on the trajectory of connected vehicles, the four critical points of vehicle arrival time, queuing time, start time and departure time were determined according to the arrival rate of each cycle according to the information provided by the critical point, and the initial queue length and maximum queuing length of each cycle were estimated by using shock wave theory, and the model was simulated and verified by the micro traffic simulation software SUMO. The experimental results show that the penetration rate of connected vehicles is not less than 20%, when v/c=1.0, the initial queue length MAE value is less than 6.5 meters, the MAE value is less than 10%, the MAE value of the maximum queue length less than 16.0 meters, and the MAPE value is less than 11%, indicating the intersection queuing length estimation model based on vehicle trajectory can still estimate the maximum queuing length and initial queue length of supersaturated intersections more effectively.