Vehicular cooperative autonomy characteristics such as adaptive platooning and collision avoidance are enabled only through the capability to reliably exchange, at multi-Gbps speeds, an ever growing quantity of data that are being generated by light detection and ranging (LIDAR), HD video, radar, and other sensors. Due to its high bandwidth availability, the mmWave communication channel is expected to act as the required, underpinning technological enabler. In this paper, a tractable analytical model for an in-lane routing scheme that approximates the coverage, rate coverage and an adaptation of area spectral efficiency of mmWave urban Vehicle-to-Vehicle networks is proposed. The analytical model is proposed for three different path loss behaviour scenarios, namely, Line-of-Sight, Non-Line-of-Sight, and Obstructed-Line-of-Sight. Each scenario is based upon corresponding, previously reported, experimental mmWave measurements and path loss models. It is shown that Non-Line-of-Sight behaviour provides the best performance in coverage, but the lowest reliability. Moreover, the careful choice of link distances, i.e. forcing communication to be limited to the nearest vehicle, removes the sensitivity of the system to interferences from increased vehicle density, which is an important result to be considered in dense urban networks. Additionally, it is found that narrowing the beamwidth significantly improves the performance, which is the result of eliminated interferences, rather than a corresponding increase in antenna gain. The results of this research will impact both communications systems infrastructure designers and vehicle manufacturers looking to balance system performance in the investigated scenarios.