A meter at least from the curb. That will help keep you clear of drains, road debris and likely areas of poor surface. It will also make you more visible to other road users.
There will be times when being further out, taking the lane (central to the carriageway) is the preferred position.
And, as +LinusR correctly states, be a meter at least from parked cars, so as to avoid opening doors. Car door incidents are 18% of the collisions between cyclists and motor vehicles, so the latter can significantly improve your safety.
+Gav There is no hard fast rule, rather riders should dynamically access the road and traffic situation. That is why we have not put it in the guide.
If you are in doubt, you can have free 1:1 advanced cycling skills course.
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