A method of operating a vehicle apparatus of a vehicle operating in an autonomous driving mode, comprising: obtaining, based on sensor data from one or more vehicle sensors communicatively coupled to the vehicle, intra-lane position data as relative intra-lane position data of the vehicle, the intra-lane position data indicating at least one lateral distance between at least one side of the vehicle and at least one lane reference point wherein the at least one lane reference point includes at least one lane edge; and transmitting the intra-lane position data to one or more neighboring entities; implementing one or more actions when receiving inter-lane position data from one or more neighboring vehicles operating in an autonomous driving mode based at least in part upon the transmitted intra-lane position data and the received inter-lane position data; wherein the one or more actions include maneuvering the vehicle so as to achieve or maintain a first target inter-vehicle lateral spacing between the vehicle and said one or more neighboring vehicles operating in an autonomous driving mode; and wherein the implementing is performed without coordination between the vehicle and at least one neighboring vehicle based in part upon determining that the at least one neighboring vehicle is operated by a human driver in a non-autonomous driving mode; wherein the implementing one or more actions without coordination includes manoeuvring the vehicle to a target intra-lane lateral position received from said one or more neighboring entities, so as to achieve or maintain a second target inter-vehicle lateral spacing between the vehicle and the neighboring vehicles which is larger than the first target inter-vehicle lateral. obtaining, based on sensor data from one or more vehicle sensors communicatively coupled to the vehicle, intra-lane position data as relative intra-lane position data of the vehicle, the intra-lane position data indicating at least one lateral distance between at least one side of the vehicle and at least one lane reference point wherein the at least one lane reference point includes at least one lane edge; and transmitting the intra-lane position data to one or more neighboring entities; implementing one or more actions when receiving inter-lane position data from one or more neighboring vehicles operating in an autonomous driving mode based at least in part upon the transmitted intra-lane position data and the received inter-lane position data; wherein the one or more actions include maneuvering the vehicle so as to achieve or maintain a first target inter-vehicle lateral spacing between the vehicle and said one or more neighboring vehicles operating in an autonomous driving mode; and wherein the implementing is performed without coordination between the vehicle and at least one neighboring vehicle based in part upon determining that the at least one neighboring vehicle is operated by a human driver in a non-autonomous driving mode; wherein the implementing one or more actions without coordination includes manoeuvring the vehicle to a target intra-lane lateral position received from said one or more neighboring entities, so as to achieve or maintain a second target inter-vehicle lateral spacing between the vehicle and the neighboring vehicles which is larger than the first target inter-vehicle lateral.