A method for collaborating headlight configurations by two or more vehicles (100a, 100b), comprising: receiving, by a processor of a first vehicle, a first collaborative lighting message from a second vehicle, wherein the first collaborative lighting message requests that the first vehicle direct one or more headlights of the first vehicle to avoid visual interference with operation of the second vehicle that would result from the one or more headlights impairing the vision of a driver of the second vehicle; determining, by the first vehicle processor, whether the first vehicle has reached an interference point beyond which headlights of the first vehicle might visually interfere with the operation of the second vehicle; receiving, by the first vehicle processor, headlight interference information from a source other than the second vehicle, the headlight interference information including an indication of an obstruction or roadway feature; determining, by the first vehicle processor, based on the headlight interference information, whether a headlight obstruction or roadway feature causes the interference point, beyond which the one or more headlights of the first vehicle interfere with visual operation of the second vehicle, to be closer to the second vehicle than the interference point would be absent the headlight obstruction or roadway feature; directing, by the first vehicle processor, one or more headlights of the first vehicle in accordance with the first collaborative lighting message and in response to determining that the first vehicle has reached the interference point beyond which the one or more headlights of the first vehicle visually interfere with the operation of the second vehicle; or maintaining the direction of the one or more headlights of the first vehicle in response to determining that the first vehicle has not yet reached the point at which the first vehicle will visually interfere with the operation of the second vehicle; subsequent to directing the one or more headlights of the first vehicle, determining, by the first vehicle processor, whether the one or more headlights of the first vehicle no longer interfere with visual operation of the second vehicle; and directing, by the first vehicle processor, one or more headlights of the first vehicle to return to a previous configuration in response to determining that the one or more headlights of the first vehicle will no longer interfere with the visual operation of the second vehicle. receiving, by a processor of a first vehicle, a first collaborative lighting message from a second vehicle, wherein the first collaborative lighting message requests that the first vehicle direct one or more headlights of the first vehicle to avoid visual interference with operation of the second vehicle that would result from the one or more headlights impairing the vision of a driver of the second vehicle; determining, by the first vehicle processor, whether the first vehicle has reached an interference point beyond which headlights of the first vehicle might visually interfere with the operation of the second vehicle; receiving, by the first vehicle processor, headlight interference information from a source other than the second vehicle, the headlight interference information including an indication of an obstruction or roadway feature; determining, by the first vehicle processor, based on the headlight interference information, whether a headlight obstruction or roadway feature causes the interference point, beyond which the one or more headlights of the first vehicle interfere with visual operation of the second vehicle, to be closer to the second vehicle than the interference point would be absent the headlight obstruction or roadway feature; directing, by the first vehicle processor, one or more headlights of the first vehicle in accordance with the first collaborative lighting message and in response to determining that the first vehicle has reached the interference point beyond which the one or more headlights of the first vehicle visually interfere with the operation of the second vehicle; or maintaining the direction of the one or more headlights of the first vehicle in response to determining that the first vehicle has not yet reached the point at which the first vehicle will visually interfere with the operation of the second vehicle; subsequent to directing the one or more headlights of the first vehicle, determining, by the first vehicle processor, whether the one or more headlights of the first vehicle no longer interfere with visual operation of the second vehicle; and directing, by the first vehicle processor, one or more headlights of the first vehicle to return to a previous configuration in response to determining that the one or more headlights of the first vehicle will no longer interfere with the visual operation of the second vehicle.