Abstract: Techniques for dividing a lane into a first virtual lane and a second virtual lane are described. A narrow track vehicle may determine that the narrow track vehicle is traversing a lane that is at least 10 feet wide. The narrow track vehicle may divide the lane into a first virtual lane and a second virtual lane and traverse one of the first virtual lane or the second virtual lane based at least in part on location (e.g., when traversing a highway lane, residential lane, etc.) and/or speed of traffic (e.g., when traffic is traveling at or below a threshold speed). In examples, the narrow track vehicle may traverse the environment in between a first lane and a second lane upon determining that a distance between a first object in the first lane and a second object in the second lane meets a threshold distance.