It was spotted on the A90 towards the Forth Road Bridge.
Queen Sees Progress At Games Venues
The Queen will view preparations for the Commonwealth Games today as part of a week of engagements in Scotland.
The Queen has met staff and volunteers preparing for the Commonwealth Games as excitement around the competition builds in Glasgow.
The monarch was accompanied by the Duke of Edinburgh for a behind-the-scenes look at venues in the city.
The royal couple received a tour of Kelvin Hall, which is home to the uniform and accreditation centre for the Games, where they spoke with volunteers and staff.
The Queen, wearing a Karl Ludwig pale buttercup yellow crepe coat, floral silk dress and Angela Kelly hat, was shown around by Commonwealth Games staff, including head of accreditation Adrian Wood and operations manager Ed Saayeng.
He said: "The visit was a brilliant experience. She was much more laid back than I expected and very open and interested in what we are doing here.''
Around 15,000 volunteers have already collected their accreditation for the Games, from a total of 50,000 expected to pass through the centre's doors before the competition begins later this month.
The Queen, who last visited Kelvin Hall in 1951 to open an exhibition of industrial power, was presented with a special accreditation pass during the tour.
Mr Saayeng, 31, from London, said: "For the Queen to take the time to come here and be presented with her accreditation, and I'm not sure that's been done before, we really appreciate that.''
The royal couple spoke with volunteers on the accreditation team, including Louise Martin, 19, from Maybole.
She said: "We only found out we were meeting the Queen this morning so it was really exciting.
"I wanted to volunteer at the Olympics but couldn't then, so with the Commonwealth Games being in my home country, I really wanted to be a part of that.
"Everyone here is so excited and can't wait for the Games to start - this is the first big step.''
During the visit, the Queen and Duke of Edinburgh were presented with a Glasgow 2014 tartan tie and shawl.
They also heard about the future restoration of the historic B-listed building on Argyle Street, which has had many incarnations over the years including music hall, Scottish basketball HQ and Museum of Transport.
A large crowd gathered to cheer the couple as they left for the city's Emirates Arena.
Before leaving, the Queen accepted a bouquet of flowers from Linda Skinner, 32, from Glasgow, who had brought eight-month-old Caleb to meet the Queen.
She said: "It was a lovely moment, I'm in shock.''
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A woman who has been charged with driving six times over the legal drink-drive limit had two children in her car, police have said.
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