VEHICLE OPERATION

A portion of an occupancy grid for an area is obtained. The occupancy grid map is generated based on collected data of a host object in the area and collected data of respective target objects in the area. A predicted portion occupancy grid for the area is generated based on predicted data of the host object and predicted data of the respective target objects. An action is determined based on inputting the portion and the predicted portion of the occupancy grid to a deep reinforcement learning neural network. A host object is operated based on the action.