AQM is a technique for congestion control such that a router notifies congestion to a TCP sender when congestion occurs. Almost no AQM algorithms ever take the RTT values of TCP connections into account in congestion control, despite they are essential parameters. This paper proposes a new AQM algorithm that exploits them explicitly by introducing a passive RTT estimation technique in a router. The simulation results shows that our AQM stabilizes the queue length better than previous AQM algorithms.